RESEARCH ON APPLICATION OF TIGHTLY COUPLED INS/GNSS
〖JZ〗BASED ON ROBUST EXTENDED KALMAN FILTER
1) Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450052
2) 72946 Troops of PLA, Zibo 255000
3) 96251 Troops of PLA, Luoyang 471000
Abstract：Tightly coupled INS/GNSS based on Robust Extended Kalman Filter algorithm is researched aiming at the observation outliers of GNSS in the INS/GNSS integrated navigation. Firstly, the INS error equations resolved into the Local Lever Frame as well as the INS/GNSS tightly coupled measurement equations are given. Secondly, the resolved model based on leastsquare algorithm is constructed according to the measurement equations and the equal weight covariance is constructed by the least square residual statistic, then calculation steps are given. Finally, measured data are processed to verify the algorithm. Results show that: when the outliers exist in GNSS observations, the tightly coupled INS/GNSS integration based on Robust Extended Kalman Filter can weaken the impact of the observation outliers effectively, and can improve the precision of integrated navigation system.
Miao Yuewang,Sun Fuping,Li Fei et al. RESEARCH ON APPLICATION OF TIGHTLY COUPLED INS/GNSS
〖JZ〗BASED ON ROBUST EXTENDED KALMAN FILTER[J]. jgg, 2013, 33(3): 97-101.
