Performance analysis of an AKF based tightly-coupled INS/GNSS integrated scheme with NHC for land vehicular applications

INS/GNSS integrated scheme can overcome the shortcoming of INS or GNSS alone to provide superior performance. AKF is based on the maximum likelihood criterion for choosing appropriate weight and thus to adjust factors online. The primary advantage of AKF is that the filter has less relationship with priori statistical information. There are two NHC available for land navigation which the velocity of vehicle in the plane perpendicular to the forward direction is zero. To validate the performance of proposed scheme, the preliminary results illustrated AKF based tightly-coupled INS/GNSS integrated scheme can provide more stable solutions combined with NHC during GNSS outages. Generally speaking, the improvement ratio of 3D positioning reach 40% compared to EKF.