GPS/INS Integration Based Navigation with Multipath Mitigation for Intelligent Vehicles

The future positioning system for an intelligent vehicle depends on integrating global positioning system (GPS) and inertial navigation system (INS). In this paper, a GPS/INS integration method is proposed by taking multipath mitigation into consideration. Multipath interference is one of the contributing sources of errors in GPS positioning. For a reliable GPS/INS navigation, the multipath interference has to be reduced. We formulate here an augmented state space system for GPS/INS with multipath effect. The unscented Kalman filter (UKF) is then applied to this augmented state space model and to determine accurate positions. Computer simulations show that the proposed approach is effective in integrating GPS/INS for navigation even when the multipath effect is strong.