Fine Resolution Position Estimation Using Kalman Filtering

This paper is focused on using an inertial measurement unit (IMU) processed with the Kalman filter to provide fine resolution position estimates. The method is designed to provide position estimates between global positioning system (GPS) position updates. The goal is to have the GPS provide position data on a course scale while the IMU data is used to estimate the position on a finer scale. By integrating both the GPS and IMU, a more precise position estimate on a fine scale can be achieved that cannot be accomplished using the sensors independently.