Enhanced MEMS-INS/GPS Integration System

S.Y. Cho, B.D. Kim, Y.S. Cho, W.S. Choi

Abstract:	This paper demonstrates an adaptive fusion filter for MEMS-INS/GPS integrated system. Motivated by the complementary features of the IIR-type filter and the FIRtype filter, this paper proposes a robust and adaptive IIR/ FIR fusion filter and a MEMS-INS/GPS integrated system designed by the fusion filter. In the filtering for nonlinear systems, the representative filter - EKF, and the alternative filters -RHKF filter, SPKF, etc. have individual merits and demerits. The key concept of the filter fusion is merging the strengths of the filters. This paper fuses the IIR-type filter – SPKF, and the FIR-type filter – RHKF filter using the adaptive strategy and applies the fusion filter to MEMS-INS/GPS integration. The fusion filter has several advantages over the EKF, SPKF, and RHKF filter. Simulation and experiment results verify that the proposed MEMS-INS/GPS using the fusion filter has robustness to the system uncertainty, temporary unknown bias, large initial estimation error, and so on.
Published in:	Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006) September 26 - 29, 2006 Fort Worth Convention Center Fort Worth, TX
Pages:	2715 - 2722
Cite this article:	Cho, S.Y., Kim, B.D., Cho, Y.S., Choi, W.S., "Enhanced MEMS-INS/GPS Integration System," Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006), Fort Worth, TX, September 2006, pp. 2715-2722.
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