Federated Kalman Filter for GPS/DR Integrated Navigation Systems in Land Vehicle
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Abstract:
GPS/DR is a low-cost and high-reliability navigation facility. A federated Kalman filter was designed to real- ize the optimal synthesis of GPS/DR integrated land vehicle navigation system, and its algorithm is presented. A field test was performed. The theoretical analysis and the experiment results both show that, by using this federated Kahnan filter, the positioning accuracy and fault tolerance capability of the GPS/DR integrated navigation system can be greatly improved.
