Optimal nonlinear filtering in GPS/INS integration
H. Carvalho, Pierre Del Moral, A. Monin, G. Salut · IEEE Transactions on Aerospace and Electronic Systems · 1997
The application of optimal nonlinear/non-Gaussian filtering to the problem of INS/GPS integration in critical situations is described. This approach is made possible by a new technique called particle filtering, and exhibits superior performance when compared with classical suboptimal techniques such as extended Kalman filtering. Particle filtering theory is introduced and GPS/INS integration simulation results are discussed.