22. The Kalman Filter and Its Applications in GNSS and INS

  1. Seyed A. (Reza) Zekavat4 and
  2. R. Michael Buehrer5
  1. Emanuela Falletti1,
  2. Marco Rao2 and
  3. Simone Savasta3

Published Online: 6 SEP 2011

DOI: 10.1002/9781118104750.ch22

Handbook of Position Location: Theory, Practice, and Advances

Handbook of Position Location: Theory, Practice, and Advances

How to Cite

Falletti, E., Rao, M. and Savasta, S. (2011) The Kalman Filter and Its Applications in GNSS and INS, in Handbook of Position Location: Theory, Practice, and Advances (eds S. A. (. Zekavat and R. M. Buehrer), John Wiley & Sons, Inc., Hoboken, NJ, USA. doi: 10.1002/9781118104750.ch22

Editor Information

  1. 4

    Michigan Technological University, Houghton, MI, USA

  2. 5

    Virginia Tech, Blacksburg, VA, USA

Author Information

  1. 1

    Istituto Superiore Mario Boella, Torin, Italy

  2. 2

    Università di Palermo, Palermo, Italy

  3. 3

    Politecnico di Torino, Turin, Italy

Publication History

  1. Published Online: 6 SEP 2011
  2. Published Print: 16 SEP 2011

ISBN Information

Print ISBN: 9780470943427

Online ISBN: 9781118104750

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Keywords:

  • global navigation satellite system (GNSS);
  • inertial navigation system (INS);
  • Kalman filter

Summary

The Kalman filter (KF) has a great importance in the global navigation satellite system (GNSS) applications. This chapter discusses the main techniques related to Kalman filtering for navigation. In particular, it explains the structure of the KF exploited in a GNSS receiver to compute the position of the user and to integrate the standard GNSS receiver with an inertial navigation system (INS). The chapter first defines the KF and in particular its extended version, in order to show how it is used in a stand-alone GNSS receiver to compute the classic position, velocity, and time (PVT) solution. Then, it provides some fundamentals of inertial navigation, and introduces the KF as a means to realize the GNSS-INS integrated systems. Finally, the chapter presents three different GNSS-INS integration schemes, namely, the so-called loosely integrated architecture, the tightly integrated architecture, and the ultra-tightly integrated architecture.

Controlled Vocabulary Terms

global positioning system; inertial navigation; Kalman filters; satellite navigation