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Enhancing the observability of an integrated navigation system (i.e., triaxial-magnetometer-aided global positioning system (GPS) and inertial navigation system (INS)) is analyzed utilizing the Earth-centered-Earth-fixed (ECEF) coordinate system. The error states of the extended Kalman filter (EKF)-based GPS/INS integration algorithm are not fully observable given the position and velocity measurements of a single-antenna GPS receiver. Although the manner of maneuvering a vehicle can improvedoi:10.2322/tjsass.62.125 fatcat:iu5dwlhwu5ferjk3tf7nkci3vm