IMM BASED NAVIGATION ALGORITHM USING FIXED GAIN FILTERS AND POST-PROCESSING RESULTS

Global Positioning System has been widely used in land vehicle navigationapplications. Recently, an interacting multiple model estimator has been introduced to improve the GPS positioning performance in various dynamic conditions of a land vehicle. In this paper, an efficient position domain GPS navigation filter based on IMM estimator which consists of three fixed gain filters for real-time implementation is presented. In this filter, the states are estimated by a weighted sum of the estimates of three fixed gain filters matched to the three dynamic modes of a land vehicle e.g., stationary, constant velocity, and constant acceleration. The post-processingresults show that the proposed IMM based GPS navigation filter provides an improved positioning solution with accuracy in comparison with the iterative least square method. For the covering abstract see ITRD E134653.