Optimal nonlinear filtering in GPS/INS integration

1997/07/01 by Hélder Carvalho, Pierre Del Moral, A. Monin +1 · 2 citations
Computer Science · Engineering · #Target Tracking and Data Fusion in Sensor Networks #GNSS positioning and interference #Fault Detection and Control Systems #Global Positioning System #Kalman filter #GPS/INS #Particle filter #Computer science #Nonlinear system #Control theory (sociology) #Gaussian #Algorithm #Assisted GPS #Artificial intelligence #Physics #Telecommunications

paper · doi:10.1109/7.599254

openalex publication_date 1997/07/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/22

Abstract

The application of optimal nonlinear/non-Gaussian filtering to the problem of INS/GPS integration in critical situations is described. This approach is made possible by a new technique called particle filtering, and exhibits superior performance when compared with classical suboptimal techniques such as extended Kalman filtering. Particle filtering theory is introduced and GPS/INS integration simulation results are discussed.

Citations

• Conditional Markov Processes
• Novel approach to nonlinear/non-Gaussian Bayesian state estimation

Cited by

• Measure-valued processes and interacting particle systems. Application to nonlinear filtering problems
• Monte Carlo method [wikipedia]