Research on GPS/INS tightly integrated navigation based on RAEKF

According to the present situation that the high precision and high reliability demand of GPS/INSS integrated navigation system rose, a robust adaptive extended Kalman filter(RAEKF) method was proposed, considering the problem that the mathematical statistical characteristics of noise in motion proc...

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Bibliographic Details
Published inDiànzǐ jìshù yīngyòng Vol. 45; no. 2; pp. 33 - 36
Main Author Li Mintao
Format Journal Article
LanguageChinese
Published National Computer System Engineering Research Institute of China 01.02.2019
Subjects
extended Kalman filter
navigation
robust adaptive
tight integration
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Summary:According to the present situation that the high precision and high reliability demand of GPS/INSS integrated navigation system rose, a robust adaptive extended Kalman filter(RAEKF) method was proposed, considering the problem that the mathematical statistical characteristics of noise in motion process were not accurately determined due to the complexity of carrier motion and the filtering results were easy to be affected by the observed coarse difference. Based on inertial navigation, satellite navigation and error model, the mathematical model of Kalman filter under tight combination mode was determined. The EKF model was derived and the adaptive Kalman filter was constructed. The filter precision was improved by adjusting the use weights of the observed value. The results showed that the influence of gross errors on navigation results was effectively suppressed by RAEKF.
ISSN:0258-7998
DOI:10.16157/j.issn.0258-7998.181756