Study on adaptive filter with MEMS-INS/GPS integrated navigation system
Fengyang Duan, Huadong Yu, Xiaolong Li · 2009
The problem of conventional Kalman filter is that the model uncertainties will severly degrade the system performance. Because of that, the maximum likelihood estimator of innovation-based adaptive Kalman filter is studied in the paper. The improved algorithm is proposed in order to solve the limitation of ML adaptive estimator in the MEMS-INS/GPS integrated navigation system. The simulation results show that the improved algorithm is feasible and efficient.