Study on Information Fusion Algorithm in Embedded Integrated Navigation System
Jian Wang, Jiang Liu, Bo-gen Cai · 2008
An improved adaptive algorithm is proposed for GPS/INS integrated navigation system. In order to meet the requirement of precision and stability, a convergence criterion is presented for the combination of a simplified adaptive Sage-Husa filter and exponential weighting fading memory filter. The hardware structure of the embedded GPS/INS integrated navigation system and structure of information fusion algorithm are given. Simulation shows that this solution demonstrates superior performance in filtering precision and stability compared to Kalman filter, and navigation trajectory in experiment matches well with the electronic map.