SINS/geomagnetic matching/barometric altimeter integrated navigation method for land vehicle

An integrated navigation method for land vehicle is researched in this paper, which is based on SINS, geomagnetic matching and barometric altimeter. Horizontal position output from geomagnetic matching, altitude output from barometric altimeter and corresponding outputs from SINS are taken to construct the measurement. Fuzzy self-adaptive Kalman filtering algorithm is adopted in the design of integrated navigation filter. To solve the problem that the interval of output from geomagnetic matching is unequal, the above filtering algorithm is improved. Simulation results show that, this integrated navigation method has high accuracy and strong independence, which has good application prospect in military field.