GPS/SINS Positioning Method Based on Robust UKF
As an improved Unscented Kalman Filtering (UKF) Algorithm,the robust UKF is proposed to solve the positioning accuracy problem of GPS/SINS integrated navigation system used in dynamic environment. The robust estimation theory is applied to the standard UKF algorithm to solve the estimation-error problem in the satellite integrated navigation system. This problem is moinly caused by observation grcss-crror and the error model uncertainty. Therefore,this new algorithm introduces equivalent covariance matrix based on M-estimated principle. The state equation and observation equation of the system are established to be the mathematical model. The experimental results indicate that the robust UKF can ensure the quality the observation information,as well as improve the accuracy and reliability of the GPS/SINS positioning solution. Besides,it can also improve the receivers location performance at the presence of gross errors.
robust UKF GPS/SINS observation gross-error M-estimated principle
Qiuting Wang Duo Xiao
Department of Information & Electrical Engineering, Zhejiang University City College,Hangzhou,China
国际会议
西安
英文
1007-1012
2011-12-23（万方平台首次上网日期，不代表论文的发表时间）