The Application and Design of EKF Smoother Based on GPS/DR Integration for Land Vehicle Navigation

This paper proposes a land vehicle navigation algorithm based on the global positioning system (GPS) and the dead reckoning (DR).To achieve high location and velocity accuracy , the extended Kalman filter smoother (EKF-smoother) is introduced for GPS/DR integrated navigation system. And the algorithm of the EKF and the EKF-smoother is given. Further, the state models and the measurement models of GPS/DR are set up. For comparision purpose, the algorithm performance of EKF and EKF-smoother is contrasted. Numerical results demonstrate that the proposed EKF-smoother algorithm gives much higher navigation accuracy than EKF algorithm for land vehicle navigation. The algorithm has obvious advantages of high accuracy.