Abstract
In the situation of abnormal GPS signal in INS/GPS integrated navigation, a robust Kalman filter was designed. In this algorithm, prediction residual statistics is used to determine abnormal observations on the base of reliable motion model. Under a certain degree of confidence, when the exception was detected, the corresponding covariance matrix of observations was expanded. So the reliability of the measurements was reduced and the precision of the filter is improved. The simulation results prove that the algorithm is validity and reliability.
| Original language | English |
|---|---|
| Pages (from-to) | 436-440 |
| Number of pages | 5 |
| Journal | Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) |
| Volume | 42 |
| Issue number | SUPPL. 1 |
| State | Published - Sep 2011 |
Keywords
- Degree of confidence
- INS/GPS integrated navigaiton
- Kalman filter
- Prediction residual error
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