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GPS and INS Integration using Predictive Filters
Martin Cornils
Graduiertenkolleg “Embedded Microsystems”, Universität Freiburg
This talk reports on the integration of a special inertial navigation system (INS) with GPS developed at the Department of Microsystems Engineering at the Albert-Ludwigs-University Freiburg (IMTEK) using predictive filters. In particular, a Kalman filter, extended Kalman filter, unscented Kalman filter and particle filter together with the corresponding mathematical models and algorithms are presented and analyzed with regard to their adequacy for the INS/GPS integration. Based on virtual sensor data, the simulations of the stand-alone INS and GPS systems as well as their integrations using the developed filters are programmed in MATLAB. The simulation results are verified by testing the implemented filters using an experimental setup.
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