Optimal nonlinear filtering in GPS/INS integration |
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Authors: | Carvalho H Del Moral P Monin A Salut G |
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Institution: | Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France; |
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Abstract: | 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. |
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