A Decoupled GPS/DR Integration Kalman Filter utilizing Carrier Measurements

Hung Seok Seo, Jae Ho Lee, Dong Hwan Hwang, Tae Kyung Sung and Sang Jeong Lee

Abstract:	In order to improve the performance of a GPS/DR inte-gration filter, more accurate modeling of the error source is necessary, resulting in increase of the dimension of the error model and the computational load. In order to re-duce the computational load, suggested in this paper is a decoupled GPS/DR integration filter scheme which con-sists of two cascaded Kalman filters. The GPS velocity output is used in the first filter to calibrate the DR sensor and to fix the velocity as well. The velocity from the first filter is fed to the second filter where the position is cor-rected using the GPS position output. Experimental re-sults show that the proposed integration scheme has a comparable positioning performance to the conventional coupled one, while its computation load is reduced to about 68%.
Published in:	Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999) September 14 - 17, 1999 Nashville, TN
Pages:	1179 - 1186
Cite this article:	Seo, Hung Seok, Lee, Jae Ho, Hwang, Dong Hwan, Sung, Tae Kyung, Lee, Sang Jeong, "A Decoupled GPS/DR Integration Kalman Filter utilizing Carrier Measurements," Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999), Nashville, TN, September 1999, pp. 1179-1186.
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