The Application and Design of Second Order EKF Based on GPS/DR Integration for Land Vehicle Navigation

This paper proposes a land vehicle navigation algorithm based on the Global Positioning System (GPS) and the dead reckoning (DR).To achieve high location and velocity accuracy, second order extended Kalman filter (SEKF) is introduced for GPS/DR integrated navigation system. And the algorithm of the first extended Kalman filter (FEKF) and the second EKF (SEKF) are given. Further, the state models and measurement models of GPS/DR are set up. For comparision purpose, the algorithm performance of FEKF and SEKF is contrasted. Numerical results demonstrate that the proposed SEKF algorithm gives much higher navigation accuracy than FEKF algorithm for land vehicle navigation. The algorithm has obvious advantages of high accuracy.