New modified adaptive extended Kalman filter of DR system for land vehicle navigation

The observation equation of the dead reckoning (DR) system for the land vehicle navigation was presented, and the modified adaptive extended Kalman filter and its filtering algorithm for the DR system were proposed. By consideration of Markov process component in the random drift of rate gyros, and application of the current statistical model and adaptive algorithm for estimation maneuvering vehicles, the accuracy of the DR system model was improved. The simulation results have shown that the positional accuracy of the DR system can be improved significantly by the modified filter and adaptive algorithm.