GPS/GF-INS Integrated Navigation System Design Using Decoupled Kalman Filter

Eugeun Han, Jae Hoon Son, Dong-Hwan Hwang*

A design method for a decoupled Kalman filter-based GPS/GF-INS integrated navigation system is proposed and navigation performance results are presented when the proposed method is adopted. The proposed design splits the Kalman filter used in a conventional coupled Kalman filter-based GPS/GF-INS integrated navigation system into two filters according to the coupling characteristics of the error states. Navigation performance can be degraded and computational load can be reduced compared with those of the conventional coupled Kalman filter. To demonstrate the usefulness of the proposed decoupled Kalman filter–based GPS/GF-INS integrated navigation algorithm, its navigation results were compared with those of the conventional coupled Kalman filter–based GPS/GF-INS integrated navigation algorithm. Keywords: GF-INS, integrated navigation system, decoupled Kalman filter

Speaker 한유근 (주)풍산방산기술연구원