The Global Positioning System(GPS) (Brown and Hwang 1997; Farrell and Barth 1999; Gelb 1974) and inertial navigation system (INS) have complementary operational characteristics and the synergy of both systems has been widely explored. An integrated GPS/INS system is typically carried out through the extended Kalman filter (EKF). The EKF is the approximate nonlinear filters which linearizes the system…