Tightly Coupled GPS/SINS Integrated Navigation System Based on Adaptive Track Fusion

A tightly coupled GPS/INS integrated navigation solution based on the Adaptive Multi-sensor Track Fusion algorithm was proposed to improve the accuracy of the system in case of the Kalman filter of GPS/INS having a longtime work. An independent GPS Kalman filter was designed in parallel with the GPS/INS integrated filter. The local tracks, the estimate results of the two filters mentioned above, were fused by the Adaptive Track Fusion algorithm to gain a more precise track. The simulation results show that this solution can improve the accuracy and the fault-tolerance of the navigation system.