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In this work research results of dynamic data processing with adaptive Kalman filter are presented. In filtering process parameters of filter are change on results of difference between measuring and expected coordinate. Modeling results of adaptive Kalman filtering are comparing with classic Kalman filter. Modeling results using adaptive Kalman filtering for coordinate estimation shows that estimation error decrease in points when parameters of movement change very rapidly. Results of adaptive Kalman filter modeling and filter use for GPS receiver information processing are described. Ill. 11, bibl. 4 (in English; abstracts in English and Lithuanian).http://dx.doi.org/10.5755/j01.eee.111.5.351

The unscented Kalman filter (UKF) became very attractive for the navigation sensors data fusion, because of algorithm significant accuracy and implementation advantages. The unscented Kalman filter is based on the unscented transform (UT) to perform the estimation of the system states. The main idea of the unscented transformation is following. It's more effective to approximate probability distribution function than arbitrary transformation or nonlinear function. The developed sensors data fusion algorithm using the UKF is considered in this work. This algorithm was applied for the state estimation of the loosely coupled GPS/INS integrated navigation system. GPS/INS integrated navigation system contains low cost inertial sensors and low cost GPS receiver. To demonstrate the estimation performance, the processing of sensors data was done using linear Kalman filter (KF), extended Kalman filter (EKF) and UKF. As a result, UKF has lower velocity estimation error than EKF during simulated GPS signal outage. Index Terms-Unscented Kalman filter, GPS outage, microelectromechanical systems, inertial measurement unit.

This article implies a method of magnetometer error determination. Using solid-state magnetic sensors, vehicle odometer and GPS sensor, low-cost complex navigation system for land vehicles can be realized. The methods and algorithms of magnetometer calibration are shown. Results of magnetometer calibration experiments and possibility to detect magnetometer error parameters in process of car driving are analysed. To acquire vehicle heading output, navigation system described here is developed.

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