Hi



I like to integrate GPS and INS using kalman filter to predict the

position of a vehicle.



first of all i like to use GPS sensor readings with kalman filter .

I have read lot of research papers for that purpose but I donot know how

to use real time data of GPS sensor in the kalman filter measurement

equation.



My question is that where i have to put the readings the gps sensor

in measurement equation i.e where to put numerical values the sensor

in the measurement equation.how these values make sense.

zk=Hxk+wk

also i like to ask as how can i determine the state transition matrix F

and observation matrix H for a particular application.



also how can i determine the measrement noise matrix the gps sensor.



thanks and regards

-Hi



I like to integrate GPS and INS using kalman filter to predict the

position of a vehicle.



first of all i like to use GPS sensor readings with kalman filter .

I have read lot of research papers for that purpose but I donot know how

to use real time data of GPS sensor in the kalman filter measurement

equation.



My question is that where i have to put the readings　the gps sensor

in measurement equation i.e where to put numerical values　the sensor

in the measurement equation.how these values make sense.

zk=Hxk+wk

also i like to ask as how can i determine the state transition matrix F

and observation matrix H for a particular application.



also how can i determine the measrement noise matrix　the gps sensor.



thanks and regards