传感技术学报2024，Vol.37Issue(4)：620-628,9.DOI:10.3969/j.issn.1004-1699.2024.04.009
基于自适应高斯渐进滤波的工程车GNSS/INS紧组合定位
GNSS/INS Tightly Coupled Positioning of Engineering Vehicle Based on Adaptive Gaussian Progressive Filter
摘要
Abstract
The GNSS/INS tightly coupled location problem of engineering vehicle under the influence of measurement outliers is stud-ied,and a vehicle location method based on adaptive Gaussian progressive filtering is proposed.Firstly,in order to reduce the risk of fil-ter damage caused by measured outliers,the hypothesis testing method is used to detect and eliminate measurement outliers.Secondly,an adaptive Gaussian progressive filtering method is designed to compensate the uncertainty of measurement for the degradation of posi-tioning performance caused by outliers.In particular,by using the relationship between the linearization error and the system estimation error,the progressive measurement update method is improved,so as to realize the indirect compensation of the linearization error.Final-ly,the reliability and superiority of the proposed method are verified through GNSS/INS tightly coupled positioning experiment.关键词
GNSS/INS紧组合/工程车/量测野值/高斯渐进Key words
GNSS/INS tightly coupled/engineering vehicle/measurement outliers/Gaussian progressive分类
信息技术与安全科学引用本文复制引用
张文安,沈嘉俊,史秀纺,杨旭升,王军..基于自适应高斯渐进滤波的工程车GNSS/INS紧组合定位[J].传感技术学报,2024,37(4):620-628,9.基金项目
浙江省自然科学基金项目(LY23F030006) （LY23F030006）
国家自然科学基金项目(62173305) （62173305）
