Patent ID: 8155874

Claim:
An integrated navigation apparatus provided with a GPS receiver receiving GPS satellites signals and an inertial measurement unit (IMU) having a 3-axis accelerometer calculating a motion distance of a moving object and a 3-axis gyro measuring a rotation of the moving object, comprising: a filtering means for outputting a first state variable estimation value and a second state variable estimation value for error compensation of an INS navigation information based on measurement data inputted from the GPS receiver and error covariances of a first filter and a second filter, calculating and outputting a mode probability for fusing navigation information, performing fusing onto the first filter and the second filter by calculating a fusion probability based on the mode probability and a Markov transition matrix, and outputting fused state variables as fusion results of first navigation information and second navigation information; and an inertial navigation calculating means for calculating first INS navigation information and second INS navigation information based on measurement data of the IMU, transmitting the first INS navigation information and the second INS navigation information to the filtering means, compensating the first INS navigation information and the second INS navigation information based on the first state variable estimation value and the second state variable estimation value inputted from the filtering means, transmitting the compensated first INS navigation information and the compensated second INS navigation information to the filtering means, compensating the first navigation information and the second navigation information based on the fused state variables inputted from the filtering means in response to a compensated results of the first INS navigation information and the second INS navigation information, fusing the compensated first navigation information and the compensated second navigation information based on the mode probability inputted from the filtering means to thereby produce fused navigation information, and providing the fused navigation information to a display unit.