In this paper, the vibration analysis of the land-vehicle is applied for a special INS/GPS integration. The Strapdown INS (SINS) using two Kalman Filters (KF) has been built so that the system can be operated flexibly between feedforward and feedback modes in case of GPS outage. The experiment results show that this INS/GPS system can be used for practical applications. | Land vehicle navigation system enhanced by vibration analysis