Integrated INS/GPS navigation solution for high-speed vehicles
DOI:
https://doi.org/10.54939/1859-1043.j.mst.CSCE9.2025.35-41Keywords:
Inertial navigation system; INS/GPS; Kalman filter; Strongly robust adaptive Kalman filter.Abstract
Experimental results indicate that the noise characteristics of micromechanical sensors vary significantly with environmental and operational conditions, reducing the effectiveness of conventional Kalman filtering. For high-speed aerial vehicles, GPS not only provides accurate positioning information but also a highly precise heading measurement (Heading <0.3°). This paper proposes an integrated Inertial Navigation System (INS) and Global Positioning System (GPS) solution employing a Strongly Robust Adaptive Kalman Filter (SH-RAKF) to enhance positioning and orientation accuracy. State and observation models are constructed based on experimental data obtained from micromechanical sensors and GPS. Simulation results demonstrate that the proposed algorithm significantly improves trajectory tracking and heading estimation under conditions of strongly time-varying noise.
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