%A Van Tang Pham
%A Van Thang Nguyen
%A Duc Trinh Chu
%A Duc Tan Tran
%J Journal of Automation and Control Engineering
%T 15-State Extended Kalman Filter Design for INS/GPS Navigation System
%X Nowadays, navigation  system  has  been  receiving 
high  demand for various  kind  of applications. Among these systems,   Global   positioning   system   (GPS)   and   Inertial navigation system (INS) are the most popular. In this paper, a  15-state  Extended  Kalman  Filter  is  designed  to  integrate INS   and   GPS   in   a   flexible   way   compared   with   many conventional   integration.   Based   on   the   loosely   coupled 
GPS/INS  integration,  the  proposed  scheme  can  switch  back and   forth   between   feed   forward   and   feedback   aiding methods.  Thus,  the  system  can  reduce  the  position  and velocity    errors    compared    to    conventional    integration 
method.  To  verify  the  technique,  a  simulation  model  is created   using  Simulink/MATLAB.  The  data  is  obtained from  Micro  PSU  BP3010  IMU  sensor  and  HI-204  GPS receiver.   The   simulation   result   confirms   the   benefit   of integrated   system   in   both   open   and   urban   areas,   and suitable for real-time implementation.
%N 2
%V 3
%D 2015
%L SisLab1752