Amirkabir University of Technology Amirkabir Journal of Mechanical Engineering 2008-6032 54 12 2023 02 20 A New Direct Filtering Approach based on the Interactive Multiple Model Method in the Global Positioning System/Inertial Navigation System Integration A New Direct Filtering Approach based on the Interactive Multiple Model Method in the Global Positioning System/Inertial Navigation System Integration 2725 2740 5077 10.22060/mej.2023.21380.7441 FA Hossein Heidary Sadrabady Department of Electrical Engineering, Iran University of Science and Technology Elahe Sadat Abdolkarimi Department of Electrical Engineering, Iran University of Science and Technology Mohammad Reza Mosavi Department of Electrical Engineering, Iran University of Science and Technology, Narmak, Tehran 16846-13114, Iran. 0000-0002-2389-644X Journal Article 2022 05 08 In this paper, to increase the navigation accuracy in the integrated Global Positioning System and Inertial Navigation System, a new direct filtering approach called Interacting Multiple Model-Refined Strong Tracking Extended Kalman Filter has been developed. In the proposed method, while using inertial navigation equations and tracking equations in order to improve the accuracy of position and velocity, to increase the accuracy of orientation, attitude estimation methods based on the gyroscope, accelerometer, and global positioning system have been used. In addition, in order to enhance the Extended Kalman Filter robustness against modeling error, the Refined Strong Tracking method has been used. The aircraft then verified the proposed method using data collected in a real field experiment. The results of the proposed method were compared with the results of the conventional indirect filtering method Kalman Filter, direct filtering Unscented Kalman Filter, and Interacting Multiple Model - Extended Kalman Filter. The results show the more accurate performance of the proposed method compared to the previous three methods in the Global Positioning System and Inertial Navigation System integration. In this paper, to increase the navigation accuracy in the integrated Global Positioning System and Inertial Navigation System, a new direct filtering approach called Interacting Multiple Model-Refined Strong Tracking Extended Kalman Filter has been developed. In the proposed method, while using inertial navigation equations and tracking equations in order to improve the accuracy of position and velocity, to increase the accuracy of orientation, attitude estimation methods based on the gyroscope, accelerometer, and global positioning system have been used. In addition, in order to enhance the Extended Kalman Filter robustness against modeling error, the Refined Strong Tracking method has been used. The aircraft then verified the proposed method using data collected in a real field experiment. The results of the proposed method were compared with the results of the conventional indirect filtering method Kalman Filter, direct filtering Unscented Kalman Filter, and Interacting Multiple Model - Extended Kalman Filter. The results show the more accurate performance of the proposed method compared to the previous three methods in the Global Positioning System and Inertial Navigation System integration. https://mej.aut.ac.ir/article_5077_2e855f9489df0712b4bd8ea9e2848c5a.pdf