Giremus, Audrey and Doucet, Arnaud and Calmettes, Vincent and Tourneret, Jean-Yves A rao-blackwellized particle filter for INS/GPS integration. (2004) In: IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2004), 17-21 May 2004, Montréal, Canada.
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The localization performance of a navigation system can be improved by coupling different types of sensors. This paper focuses on INS-GPS integration. INS and GPS measurements allow to dene a non-linear state space model, which is appropriate to particle ltering. This model being conditionally linear Gaussian, a Rao-Blackwellization procedure can be applied to reduce the variance of the estimates.
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