Adaptive Filtering Design for In-Motion Alignment of INS
Misalignment angles estimation of strapdown inertial navigation system(INS)using global positioning system(GPS)data is highly affected by measurement noises,especially with noises displaying time varying statistical properties.Hence,adaptive filtering approach is recommended for the purpose of improving the accuracy of in-motion alignment.In this paper,a simplified form of Celsos adaptive stochastic filtering is derived and applied to estimate both the INS error states and measurement noise statistics.To detect and bound the influence of outliers in INS/GPS integration,outlier detection based on jerk tracking model is also proposed.The accuracy and validity of the proposed algorithm is tested through ground based navigation experiments.
INS/GPS integration in-motion alignment adaptive filtering outlier detection
Tong Liu Qian Xu Yuejun Li
School of Automation,Beijing Institute of Technology 5 South Zhongguancun Street,Hai Dian District,B The North Huaan Industrial Group Co.,Ltd.,Qiqihaer 161006,China
国际会议
长沙
英文
2669-2674
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）