Application of Adaptive Kalman Filtering Algorithm in IMU/GPS Integrated Navigation System

The IMU error equations in the earth fixed coordinates are introduced firstly.A fading Kalman filtering is simply introduced and its shortcomings are analyzed,then an adaptive filtering is applied in IMU/GPS integrated navigation system,in which the adaptive factor is replaced by the fading factor.A practical example is given.The results prove that the adaptive filter combined with the fading factor is valid and reliable when applied in IMU/GPS integrated navigation system.