Measurements Discarding Method for Combined Navigation Based on IAE
Adaptive Kalman Filter (AKF) can improve the accuracy of GNSS/IMU combined navigation system based on the condition that the received GNSS measurements are independently accurate enough.However,Innovationbased adaptive estimation (IAE),which is one of the proved AKF algorithms,is more likely to be subjected to bias and non-convergence with degraded measurements accuracy due to GNSS signal outage or low-cost receiver.In order to maintain the performance of integrated GNSS/IMU system with the coexistence of less accurate measurements,a measurements discarding method is proposed in this paper.The algorithm,named innovation-based adaptive estimation with measurements discarding strategy (IAE-D),monitors the quality of the estimations and measurements in real-time,and discards the measurements when the estimations are accurate enough or the measurements are less qualified.Field test was carried out.Noise was imported to simulate different levels of measurements deterioration.Performance comparison between EKF,IAE and IAE-D has been executed with real data.The results demonstrate that IAE-D has magnificent advantage over EKF and IAE in regard to stability and accuracy when the power level of measurements interference is relatively high.
GNSS/IMU IAE AKF Discarding Method
Peng Li Lu Wang Haibin Chu Jinjun Zheng Zhonggui Chen
Institute of Spacecraft System Engineering China Academy of Space Technology Beijing,China
国际会议
太原
英文
413-417
2011-02-26（万方平台首次上网日期，不代表论文的发表时间）