Development of state estimation system with INS, magnetometer and carrier phase GPS for vehicle navigation

This paper presents a real-time state estimation system for vehicles using inertial sensors, magnetic sensors and GPS receivers with carrier phase measurement capability. The article concentrates on the precise attitude estimation. A real-time method for carrier phase integer ambiguity determination is described. The state estimation algorithm is a two level extended Kalman filter. The results are tested for real movement of a car and a sail-plane.