Performance Analysis of GPS/INS Integrated System by Using a Non-Linear Mathematical Model

  • Khalid Touil
  • Mourad Zribi
  • Mohammed Benjelloun
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 35)


Inertial navigation system (INS) and global position system (GPS) technologies have been widely utilized in many positioning and navigation applications. Each system has its own unique characteristics and limitations. In recent years, the integration of the GPS with an INS has become a standard component of highprecision kinematics systems. The integration of the two systems offers a number of advantages and overcomes each system’s inadequacies. In this paper an inertial error model is developed which can be used for the GPS/INS integration. This model is derived by employing the Stirling’s interpolation formula. The Bayesian Bootstrap Filter (BBF) is used for GPS/INS integration. Bootstrap Filter is a filtering method based on Bayesian state estimation and Monte Carlo method, which has the great advantage of being able to handle any functional non-linearity and system and/or measurement noise of any distribution. Experimental result demonstrates that the proposed model gives better positions estimate than the classical model.


Navigation GPS/INS integration Stirling’s interpolation Bayesian Bootstrap Filter 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Khalid Touil
    • 1
  • Mourad Zribi
    • 2
  • Mohammed Benjelloun
    • 2
  1. 1.Laboratoire d’Analyse des Systèmes du Littoral, (LASL-EA 2600)Université du Littoral Côted’OpaleFrance
  2. 2.Université du Littoral Côte d’OpaleFrance

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