Abstract:We propose a Gaussian mixture extend Kalman filter (GMEKF) algorithm for non-Gaussian colored noise processing to solve the random model mismatch problem caused by non-Gaussian colored noise in GNSS/SINS tightly-coupled system. We discuss the approximation of non-Gaussian noise by the Gaussian mixture model and the principle of GMEKF. To further improve the performance of the GMEKF algorithm, we use state amplification and measurement difference to process the colored noise components in non-Gaussian noise. The experimental results show that the proposed algorithm outperforms GSEKF algorithm in terms of random model, and its estimation accuracy is better improved in GNSS/SINS tightly coupled integrated system under non-Gaussian colored noise environment.