GPS/INS Integrated Navigation Program with Kalman Filter Implementation

This article presents a comprehensive GPS/INS integrated navigation program with detailed functional descriptions and implementation guidance. The system architecture incorporates trajectory generators for simulating vehicle dynamics, Kalman filter algorithms for optimal sensor fusion, systematic model establishment for navigation equations, and pseudorange/pseudorange rate integration methods for realistic GPS/INS simulation. The codebase employs modular programming techniques, enabling users to modify parameters and algorithms according to specific research requirements. Experimental reports are provided as implementation examples, demonstrating proper usage methodologies and validation procedures. The program serves as an excellent reference framework for navigation engineering graduation projects, featuring well-documented source code with clear algorithmic explanations. Researchers can leverage this foundation to conduct advanced studies in navigation system optimization, sensor fusion techniques, and real-time implementation strategies.