Title: Robust Kalman Filtering of GNSS/INS Integrated System
Abstract: To effectively detect and repair existing outliers and slowly growing errors(SGE) in the integrated system,the dynamic state equation and observation equation of the integrated system are given after the dynamic state equation is derived from continuous-time system model.By analyzing the mechanism of errors on kalman filtering model,a new robust kalman filtering model is proposed.The robust parameters of conventional kalman filtering is subjectively determined,so we introduce a new improved method according to the given alarm rate and fault detection rate.After the generation of GNSS/INS by the existing software and the various outliers by Monte Carlo method,the improved method is tested and the results show that the method effectively repairs the outliers and slowly growing errors by the given alarm rate and fault detection rate.Meantime,the model passes the χ2 test.
Publication Year: 2010
Publication Date: 2010-01-01
Language: en
Type: article
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Cited By Count: 2
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