In this paper we present the application of a modified Extended Kalman filter on a test device. This device is intended to be both rugged and simple to use, providing an accurate position and velocity output for land vehicles. As there are already many applications available for this purpose, our test device is unique in a way that it can be mounted in an arbitrary position on any metal surface on a vehicle, while it automatically discovers its orientation and aligns itself during the first stage of the test period. It comes as an extremely robust and low-cost solution. Furthermore, the pre-alignment outputs are corrected using a reverse output correction during the test period, immediately providing accurate outputs. The alignment algorithm greatly (by factor of 20 or more) reduces the initialization time. In addition, a novel smoothing algorithm with forward computation is described. The developed algorithm is tested with real-world experiments and proved to have a similar accuracy as the reference system, although using much cheaper and less-reliable sensor equipment. Key words: Alignment, Extended Kalman Filter, GPS/INS Navigation, SmoothingPoboljšana estimacija položaja za navigaciju vozila koristeći poravnavanje sustava i unaprijedno izglaivanje. U ovome radu opisana je implementacija modificiranog proširenog kalmanovog filtra na testnom ureaju. Ureaj je robustan i jednostavan za upotrebu te omogućava dobivanje točne pozicije i brzine kao izlaznih parametara zemljanih vozila. S obzirom da postoji velik broj postojećih aplikacija, naš testni ureaj je jedinstven u smislu da može biti postavljen u proizvoljnu poziciju na metalnu površinu na vozilu. Ureaj automatski odreuje svoju orijentaciju te se poravnava tijekom prvog dijela testnog perioda. Ujedno je vrlo robustan i niske cijene. Izlaz koji se dobije prije poravnavanja ispravljen je koristeći obrnutu korekciju izlaza tijekom testne fazečime se dobiju točni izlazi. Algoritam poravnavanja znatno (za faktor 20 i više) reducira vrijeme potrebno za inicijalizaciju. Opisan je novi algoritam izglaivanja s unaprijednim proračunom. Razvijeni algoritam testiran je na stvarnim podacima te je pokazano da ima sličnu preciznost kao referentni sustav, unatoč korištenju jeftinije i manje pouzdane opreme.
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