Robust Kalman filter with confidence degree in INS/GPS integrated navigation

Qian Xi Pan; Long Zhao; Chang Yun Zhang

Robust Kalman filter with confidence degree in INS/GPS integrated navigation

Qian Xi Pan
, Long Zhao^*
, Chang Yun Zhang

^*此作品的通讯作者

自动化科学与电气工程学院

Beihang University

科研成果: 期刊稿件 › 文章 › 同行评审

摘要

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.

源语言	英语
页（从-至）	436-440
页数	5
期刊	Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology)
卷	42
期	SUPPL. 1
出版状态	已出版 - 9月 2011

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title = "Robust Kalman filter with confidence degree in INS/GPS integrated navigation",

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.",

keywords = "Degree of confidence, INS/GPS integrated navigaiton, Kalman filter, Prediction residual error",

author = "Pan, \{Qian Xi\} and Long Zhao and Zhang, \{Chang Yun\}",

year = "2011",

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journal = "Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology)",

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AU - Pan, Qian Xi

AU - Zhao, Long

AU - Zhang, Chang Yun

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N2 - 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.

AB - 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.

KW - Degree of confidence

KW - INS/GPS integrated navigaiton

KW - Kalman filter

KW - Prediction residual error

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SN - 1672-7207

VL - 42

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EP - 440

JO - Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology)

JF - Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology)

IS - SUPPL. 1

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Robust Kalman filter with confidence degree in INS/GPS integrated navigation

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