Enhanced accuracy GPS navigation using the interacting multiple model estimator

This paper presents an Interacting Multiple Model (IMM) estimator based approach to navigation using the Global Positioning System (GPS). The "soft-switching" IMM estimator obtains its estimate as a weighted sum of the individual estimates from a number of parallel filters matched to different motion modes of the platform e.g., nearly constant velocity and maneuvering. The goal is to obtain the maximum navigation accuracy from an inexpensive …