Novel MEMS INS/GPS Integration Scheme Using Parallel Kalman Filters

In this paper, the special estimation schemes for INS/GPS integration is addressed and implemented on real-time PC-box hardware. The strapdown INS (SINS) using two Kalman filters (KF) has been built so that the system can be operated flexibly between feed-forward and feedback modes in case of GPS outage. The experiment results shown that this INS/GPS system can be used for practical applications.