Study of Application of Adaptive Kalman Filter Technology in Integrated Navigation System

The GPS and INS are separately discussed in the paper,and comparisons of their advantages and disadvantages are made in the paper.The measurement noise in the INS/GPS integrated navigation system is complex and variable,and the model is inaccuracy sometimes,which could bring divergence.To solve this problem,presents the technology of adaptive Kalman filter based on relative output method.By calculating the optimum static-state gain in the adaptive Kalman filter algorithm to adjust the measurement noise,the technology could restrain the divergence and provide an effective way to realize high precision navigation for GPS/INS integrated navigation system.The simulation results indicate that this filtering algorithm can get a better result in system states optimization estimation.Simultaneously it has a superiority of adapting system noise variation and this algorithm has better navigation accuracy than the regular Kalman filter algorithm.