The program is based on MATLAB platform, and realizes the Kalman filtering algorithm of GPS/INS based on position loosening combination. It is divided into two parts. GPS_INS.m is the main file of the combined algorithm, inputs the measured data of the strapdown inertial navigation platform, sets the measurement noise parameters, and carries out data fusion correction by calling the Kalman filter function, and finally realizes the drawing. Function; kalman_GPS_INS.m is Kalman filter program, input measurement error and noise parameters can be estimated position and velocity.

Filename	Size	Update
data.mat	631454	2008-05-20
kalman_GPS_INS.m	4128	2018-03-28
GPS_INS.m	4258	2018-03-30

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