H濾波和自适應卡爾曼濾波在消除重力异常畸變中的對比研究-H filtering and adaptive Kalman filtering in the elimination of gravity anomalies in the comparative study of distortion

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

Initialize the Kalman filter parameters R - measurement noise, H - transform measure to state Q - system noise, P - the status covarince matrix A - state transform matrix- Initialize the Kalman filter parameters R - measurement no