@inproceedings{298364dcf68a46fdbded144319f9c1e6,
title = "An Improved Adaptive Navigation Algorithm Based on Adjustable Student-t distribution in an Urban Environment",
abstract = "Aiming at the problem that the abnormal values of the measurement noise appear when GPS signals become weak or disappear in the urban environment, which reduces the positioning accuracy of the INS/GPS tight coupled navigation system, an improved adaptive filtering algorithm based on the adjustable Student-t distribution is proposed. This method uses Student-t distribution to model the measurement noise, the Mahalanobis distance of innovation vector to adjust filter{\textquoteright}s adaptation, and the variational Bayesian method to better track changes in measurement noises. Experimental results show that the method can achieve a more robust estimation result and a better positioning effect in an urban environment.",
keywords = "INS/GPS tight coupling, Mahalanobis distance, Student-t distribution, Variational Bayesian",
author = "Ying Zhang and Zhe Yang and Hongbo Zhao and Tao Yang and Wenquan Feng",
note = "Publisher Copyright: {\textcopyright} 2022 SPIE; 4th International Conference on Informatics Engineering and Information Science, ICIEIS 2021 ; Conference date: 19-11-2021 Through 21-11-2021",
year = "2022",
doi = "10.1117/12.2627428",
language = "英语",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "SPIE",
editor = "Yimin Zhou and Lianghong Wu and Zhile Yang and Zuguo Chen",
booktitle = "4th International Conference on Informatics Engineering and Information Science, ICIEIS 2021",
address = "美国",
}