Integrated Navigation Positioning Algorithm Based on Improved Kalman Filter

Integrated navigation technology is designed to estimate information with at least two navigation systems by different navigating equipment. In this paper, we exploit inertial navigation system and global positioning system to construct the integrated navigation positioning system, and then verify the performance of the improved Kalman filter. Inertial Navigation System (INS) is designed to estimate the position, velocity, and attitude using inertial sensors. As errors are possible to be accumulated in the navigation process with INS, we select the Global Positioning System (GPS) to provide useful information for INS. To effectively promote the position accuracy of the integrated navigation system, we propose an improved Kalman filter to promote the measurement accuracy and reduce negative impact of abnormal vibration of code tracking loop and carrier tracking loop. Finally, we conduct a simulation to test the performance of the proposed algorithm, and very positive results are obtained.