Date Added: Nov 2009
The Extended Kalman Filter (EKF) is used for sensor fusion in a land vehicle navigation system. As the defects of the first-order linearization create that the EKF can introduce estimated errors, and will not provide better performance. To yield higher accuracy of navigation, in this paper, a novel particle filter for sensor fusion is proposed and the sampling of the particle filter shows better performances when compared with the EKF. The areas which will affect Terrain, buildings, and foliage can block the propagation of GPS signals and in tunnels or in parking garages, the receiver will see no satellites at all. Consequently, continuous navigation in many cities is impossible for conventional GPS-only navigation systems.