Mohamed, A. H.; Schwarz, K. P. Adaptive Kalman filtering for INS/GPS. (English) Zbl 1001.86014 J. Geod. 73, No. 4, 193-203 (1999). Summary: After reviewing the two main approaches of adaptive Kalman filtering, namely, innovation-based adaptive estimation (IAE) and multiple-model-based adaptive estimation (MMAE), the detailed development of an innovation-based adaptive Kalman filter for an integrated inertial navigation system/global positioning system (INS/GPS) is given. The developed adaptive Kalman filter is based on the maximum likelihood criterion for the proper choice of the filter weight and hence the filter gain factors. Results from two kinematic field tests in which the INS/GPS was compared to highly precise reference data are presented. Results show that the adaptive Kalman filter outperforms the conventional Kalman filter by tuning either the system noise variance-covariance (V-C) matrix ‘\(\mathcal Q\)’ or the update measurement noise V-C matrix ‘\(R\)’ or both of them. Cited in 18 Documents MSC: 86A30 Geodesy, mapping problems 62P30 Applications of statistics in engineering and industry; control charts Keywords:adaptive; Kalman filtering; GPS/INS PDF BibTeX XML Cite \textit{A. H. Mohamed} and \textit{K. P. Schwarz}, J. Geod. 73, No. 4, 193--203 (1999; Zbl 1001.86014) Full Text: DOI