GPS Solutions

, Volume 20, Issue 1, pp 63–75 | Cite as

Adaptive GPS/INS integration for relative navigation

  • Je Young Lee
  • Hee Sung Kim
  • Kwang Ho Choi
  • Joonhoo Lim
  • Sebum Chun
  • Hyung Keun Lee
Original Article


Relative navigation based on GPS receivers and inertial measurement units is required in many applications including formation flying, collision avoidance, cooperative positioning, and accident monitoring. Since sensors are mounted on different vehicles which are moving independently, sensor errors are more variable in relative navigation than in single-vehicle navigation due to different vehicle dynamics and signal environments. In order to improve the robustness against sensor error variability in relative navigation, we present an efficient adaptive GPS/INS integration method. In the proposed method, the covariances of GPS and inertial measurements are estimated separately by the innovations of two fundamentally different filters. One is the position-domain carrier-smoothed-code filter and the other is the velocity-aided Kalman filter. By the proposed two-filter adaptive estimation method, the covariance estimation of the two sensors can be isolated effectively since each filter estimates its own measurement noise. Simulation and experimental results demonstrate that the proposed method improves relative navigation accuracy by appropriate noise covariance estimation.


GPS/INS integration Relative navigation Adaptive estimation CSC filtering 



This research was supported by a grant from National Agenda Project (NAP) funded by Korea Research Council of Fundamental Science and Technology.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Je Young Lee
    • 1
  • Hee Sung Kim
    • 1
  • Kwang Ho Choi
    • 1
  • Joonhoo Lim
    • 1
  • Sebum Chun
    • 2
  • Hyung Keun Lee
    • 1
  1. 1.School of Electronics, Telecommunication and Computer EngineeringKorea Aerospace UniversityGoyang-CityKorea
  2. 2.Satellites Navigation Team, CNS/ATM and Satellite Navigation Research CenterKorea Aerospace Research InstituteDaejeonKorea

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