Establishment of an Adaptive Extended Kalman Filter Model for an GPS/DR Integrated Navigation System

A nonlinear adaptive Kalman filter model and its algorithm for a GPS/DR integrated navigation system in land vehicles are proposed. An effective method,in which the performance of the model for GPS/DR integrated navigation systems can be automatically regulated by changing Q and R in terms of the values of PDOP, is firstly presented. The model designed for GPS/DR systems can be adapted for different situations of land vehicle navigation,and possesses smart model characteristics. The efficiency of the model is verified by computer simulation results.