大地测量与地球动力学2013，Vol.33Issue(3)：97-101,5.
基于抗差EKF的INS/GNSS紧组合算法应用研究
RESEARCH ON APPLICATION OF TIGHTLY COUPLED INS/GNSS BASED ON ROBUST EXTENDED KALMAN FILTER
摘要
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 least-square 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.关键词
INS/GNSS紧组合/抗差EKF/相对等价权/等价协方差/方差膨胀模型Key words
INS/GNSS tightly coupled/ Robust Extended Kalman Filter/ relative equivalent weight/ equivalent covariance/ variance inflation model.分类
天文与地球科学引用本文复制引用
苗岳旺,孙付平,李飞,景晓鹏..基于抗差EKF的INS/GNSS紧组合算法应用研究[J].大地测量与地球动力学,2013,33(3):97-101,5.基金项目
国家自然科学基金(41074011) （41074011）
