Abstract：For there is the problem of iterative calculation in robust extended Kalman filter（EKF），an algorithm of robust EKF based on the Vondrak gross error was proposed and applied to the GPS navigation and positioning.The first，it could identify and position the gross error of observations.Then，robust EKF model was used.In order to test the new model，dynamic GPS data was measured，double difference observation equation and velocity with acceleration kalman state equation of the model were built.The experiment results show that the new differential robust EKF model can resist the influence of gross errors in observation.Compared to the traditional robust EKF model，it can avoid resistance difference iteration in each epoch，and improve the efficiency of navigation solution.
