Nonlinear Filtering Methods for the INS/GPS In-Motion Alignment and Navigation

In this paper we propose algorithms of land-vehicle INS (Inertial Navigation System) / DGPS (Differential Global Positioning System) In-Motion Alignment based on nonlinear filtering techniques (Quasi-Linear Optimal filter [1], Gaussian Sum filter [2], the Extended Kalman filter [3] and Monte Carlo filter [4, 5]). After briefly reviewing the nonlinear filtering techniques, the algorithms of In-Motion Alignment and navigation are derived. Results of numerical experiments are also shown by using the simulated INS and DGPS data. And the performance of nonlinear filter in the land-vehicle In-Motion Alignment and navigation is evaluated.