| GNSS/INS TIGHTLY COUPLED NAVIGATION WITH ROBUST ADAPTIVE
EXTENDED KALMAN FILTER |
| Youlong Wu 1,2, Shuai Chen 2, Tingting Yin 3 |
1School of Electronic and Information Engineering, Jinling Institute of Technology
2School of Automation, Nanjing University of Science and Technology
3School of Intelligent Science and Control Engineering, Jinling Institute of Technology |
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| ABSTRACT |
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GNSS/INS integrated navigation system is particularly outstanding in providing reliable navigation
information for land vehicle applications. However, GNSS measurements are easily disturbed in harsh operating
environments, especially the accuracy of integrated navigation system integrated with inertial navigation system will be
affected accordingly. Hence, a robust adaptive extended Kalman filter procedure is crucial to maintain the stability and
reliability of the system. In this study, a robust factor based on local test of standardized residual vector was proposed to deal
with potential gross errors, and an adaptive factor based on position dilution of precision which reflect the satellite geometry
was proposed to adjust covariance matrix. The robust adaptive factor function models are established to adjust the dynamic
model and abnormal measurements. The test results show that the standard extended Kalman filter cannot always give an
optimal solution due to the influence of GNSS measurements and satellite geometry especially in the complex environment,
while the proposed method improves the reliability of the integrated navigation system by adopting robust adaptive factor. |
| Key Words:
SS/INS integrated navigation, Extended Kalman filter, Robust, Adaptive, Dilution of precision |
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Corresponding Author.
Youlong Wu , Email. 
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