# Optimal nonlinear filtering in GPS/INS integration

@article{Carvalho1997OptimalNF, title={Optimal nonlinear filtering in GPS/INS integration}, author={H. Carvalho and Pierre Del Moral and A. Monin and G{\'e}rard Salut}, journal={IEEE Transactions on Aerospace and Electronic Systems}, year={1997}, volume={33}, pages={835-850} }

The application of optimal nonlinear/non-Gaussian filtering to the problem of INS/GPS integration in critical situations is described. This approach is made possible by a new technique called particle filtering, and exhibits superior performance when compared with classical suboptimal techniques such as extended Kalman filtering. Particle filtering theory is introduced and GPS/INS integration simulation results are discussed.

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