Advanced carrier DGPS/MEMS-IMU integrated navigation with hybrid system models

In this paper, a new approach that performs carrier phase DGPS/MEMS-IMU integrated navigation based on a hybrid system model is proposed. This approach is called the mixture model integrated navigation algorithm, and can nicely cooperate with multiple model filtering algorithms, such as the well known interacting multiple model filter. The most important feature of this approach for integrated navigation system design is the optimal combination of different error dynamic/measurement models. Simulations prove that the new algorithms provide performance improvement against single model carrier DGPS/MEMS-IMU. The methodology introduced provides a new insight required for the development of future automotive navigation systems.