Design, Simulation, and Performance Analysis of an INS/GPS System using Parallel Kalman Filters Structure

Abstract

Thanks to the strong growth of MEMS technology, the Inertial Navigation System (INS) is widely applied tonavigation and guidance of moving objects. However, there exist errors in the inertial sensors signals that cause unacceptabledrifts. To minimize these effects on the INS system, a GPS is usually employed simultaneously with an INS in order toincrease the dimension of the system; the desired parameters are estimated by Kalman filtering technique applied to theenlarged system. In this paper, we present the design, simulation and performance analysis of an INS/GPS system usingtwo parallel Kaman filters in order to increase the accuracy of the parameter estimation process. The results show that thissystem could be efficiently brought to practical applications.