INS/GPS Integration Using Parallel Kalman Filtering

Abstract

Abstract In the paper an algorithm on aiding the Inertial Navigation System with GPS is presented. Parallel Kalman filter, which includes two different Kalman filters and processes INS and GPS data in real time, is designed for this reason. Simulation is made and presented on flight dynamics, and it is determined that the algorithm for aiding the INS with GPS, evaluates the motion parameters with high accuracy.