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Comparison between extended Kalman filter and Sigma-Points Kalman filters applied to integrated navigation system INS (inertial Navigation System)/GPS (Global Positioning system) with selective Availability

hamza benzerrouk
The inertial navigation system means the determination of position, velocity and attitude of vehicles using only inertial sensors, accelerometers and gyrometers for strapdown inertial navigation system. INS/GPS has proven to be a very efficient means of navigation due to the short term accuracy of INS allied to the long term accuracy of GPS. This integration was tested through non linear filters as extended Kalman filter (EKF) and Sigma-points Kalman filters (SPKF), both were compared in this work and were applied to direct mode integration in possible reactivated selective availability (SA) conditions.
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