GPS/SINS integrated navigation algorithm aided by scene matching

To improve the precision and the reliability of navigation system, when measurements from global positioning system (GPS), strap-down inertial navigation system (SINS) and scene matching (SM) sensor are obtained with different sampling rates, by establishing system models, and by use of Kalman filter and distributed filtering with feedback, an effective scene matching aided GPS/SINS integrated navigation algorithm, i.e., GPS/SINS/SM integrated navigation algorithm, is presented. Theoretical analyses and simulation results show that the GPS/SINS/SM integrated estimate is better than the GPS/SINS or GPS/SM integrated estimate, which are both better than the Kalman filter results.