CKF based on spherical diameter volume criterion is used to fuse the output data of inertial devices and GPS data to achieve the goal of integrated navigation and positioning.

Filename	Size	Update
UKFinNavigation\kalman_GPS_INS_position_sp_NFb.m	9502	2018-05-13
UKFinNavigation\ode500.mat	631454	2008-05-20
UKFinNavigation\sigmas.m	462	2018-05-13
UKFinNavigation\s_GPS_INS_position_sp_demo.m	4934	2018-05-13
UKFinNavigation\ukf.m	2863	2018-05-13
UKFinNavigation\ut.m	721	2018-04-17
UKFinNavigation	0	2018-11-09
UKFinNavigation\ckf.m	547	2017-10-15

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