A purpose of this study is to develop efficient approach for relative navigation system based on dual filters. It can be applied to monitor large ground vehicles carrying extremely hazardous materials since each of them usually consists of a tractor and a trailer. Based on dual filters method, one filter processes GPS measurements based on carrier-smoothed-code (CSC) principle and the other processes inertial measurements. Performance of the proposed relative navigation method was evaluated by field-collected real measurements.

Keywords: GPS/INS 결합, 상대항법시스템, dual filters, CSC filter