Integrated Navigation System INS/GNSS based on joint application of linear and nonlinear filtering

In this paper a new design of INS/GNSS is proposed for solve the problem of aircraft´s approach on both of direct and indirect estimation technique, in addition to combination between GPS and GLONASS signals in order to improve DOP coefficient and increase the accuracy of satellite positioning. Using Kalman filter (KF) and Non linear approximation techniques such as Extended Kalman Filter (EKF), (Sigma Point Kalman Filter (SPKF) and Divided Difference Filters (DDF). More efficient navigation system is simulated and tested and then the novel architecture is called Robust Adaptive Integrated Navigation System (RAINS). For the first time, both of linear filter and non linear filters are combined in order to ensure robustness and adaptivity of the original INS/GNSS navigation system. It expected that such proposed system will improve consequently the efficiency of GNSS Landing System GLS.