Fault-Tolerant GPS/DR Integrated Navigation System Based on Heuristic Reduction of MEMS Inertial Measurement Unit Drift

An efficient, adaptive Kalman filter is presented based on heuristic reduction of MEMS inertial measurement unit drift, which can detect the failure of GPS, and reduce the drift of MEMS inertial measurement unit. The method applies in GPS/DR integrated navigation system, which pertains to the reduction of measurement errors in gyroscopes and accelerations used for tracking the position of vehicle when the GPS is unavailable.