Low-cost MIMU and GPS integrated navigation system using sequential filtering technology

For the low-cost MIMU/GPS integrated navigation system of small UAV, the filter performance will be decreased due to the correlation of the position and velocity measurement noises of GPS receiver. A sequential unscented Kalman filtering technology is proposed to overcome the above mentioned disadvantage. The observation vector position and velocity are handled sequentially so as to simplify obviously the filter computation and to realize effectively the information fusion. Simulation results show that the method can achieve higher accuracy solutions with low cost sensors and improve the performance of integrated navigation system.