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15-State Extended Kalman Filter Design for INS/GPS Navigation System

Tang. Pham Van1, Thang. Nguyen Van2, Duc Anh. Nguyen3 , Trinh. Chu Duc3, and Tan. Tran Duc4
1.Military Academy of Logistics, Ha Noi, Viet Nam
2.Broadcasting College 1, Ha Nam, Viet Nam
3.VNU University of Engineering and Technology, Ha Noi, Viet Nam
Abstract—Nowadays, navigation system has been receiving high demand for various kind of applications. Among these systems, Global positioning system (GPS) and Inertial navigation system (INS) are the most popular. In this paper, a 15-state Extended Kalman Filter is designed to integrate INS and GPS in a flexible way compared with many conventional integration. Based on the loosely coupled GPS/INS integration, the proposed scheme can switch back and forth between feed forward and feedback aiding methods. Thus, the system can reduce the position and velocity errors compared to conventional integration method. To verify the technique, a simulation model is created using Simulink/MATLAB. The data is obtained from Micro PSU BP3010 IMU sensor and HI-204 GPS receiver. The simulation result confirms the benefit of integrated system in both open and urban areas, and suitable for real-time implementation.

Index Terms—kalman filter, navigation, INS/GPS

Cite: Tang. Pham Van, Thang. Nguyen Van, Duc Anh. Nguyen, Trinh. Chu Duc, and Tan. Tran Duc, "15-State Extended Kalman Filter Design for INS/GPS Navigation System," Jounal of Automation and Control Engineering, Vol. 3, No. 2, pp. 109-114, April, 2015. doi: 10.12720/joace.3.2.109-114
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