The Design of GPS / IMU Data Fusion Algorithm Based on Multisensor Kalman Filter
WU Jian-hong · Microelectronics & Computer · 2005
In the GPS / IMU integrated system, in order to detect and reject the sensors' bad data , which is difficult for existing filter algorithms a multisensor Kalman Filter (KF) taking the contextual information of KF into account is introduced. It is suitable to integrate a high number sensors, without rebuilding the whole structure of the filter. The result of computer simulation indicates that it increases the reliability of data fusion.