... use GPS information as usual Figure H.4 shows the detail of the configuration utilizing two KFs VCM2 012 (3) where H is the heading angle parameter Calculate the measurement vector, from position ... of the gyroscopes in X and Y directions Three parameters ΦE, ΦN, and ΦUP are shown in Fig H 10 VCM2 012 Estimation of pitch and roll Figures H.12 and H.13 are the velocities and the difference ... An adaptive neuro-fuzzy model for bridging GPS outages in MEMS-IMU/GPS land vehicle navigation, Proceedings of ION GNSS 2004, 21-24 September, Long Beach, CA, USA, pp 1088-1095, 2004 [4] Wang...