OUTLIER INFLUENCE CONTROL IN GPS/INS NAVIGATION WITH INTERACTING MULTIPLE MODEL ALGORITHM
He Zhengbin 1) ; Nie Jianliang 2) ;and Wu Fumei 3,4)
1)School of Geological and Surveying Engineering, Chang’an University, Xi’an 7100542)Geodetic Data Processing Center, State Bureau of Surveying and Mapping, Xi’an 7100543)Xi’an Research Institute of Surveying and Mapping, Xi’an 7100544)Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450052
Abstract：Interacting multiple model algorithm is proposed to control the influence of observation outliers in GPS/INS navigation. Redundant observations are not requested in this method. A multimodel set which includes both normal and exceptional observational models is established. The Markov transition probabilities are used to switch one model to another. When observations are normal, the normal observation model is used chiefly for the others the exceptional observation model works. Consequently, the algorithm can effectively control the influence of observation outliers in GPS/INS navigation.
He Zhengbin ,Nie Jianliang ,and Wu Fumei. OUTLIER INFLUENCE CONTROL IN GPS/INS NAVIGATION WITH INTERACTING MULTIPLE MODEL ALGORITHM[J]. jgg, 2011, 31(3): 102-105.
