Application of adaptive factor based on partial state discrepancy in tight coupled GPS/INS integration

被引：0

作者：

Wu, Fumei ^{[1
,2
]}

Yang, Yuanxi ^{[2
]}

Cui, Xianqiang ^{[2
,3
]}

机构：

[1] Institute of Surveying and Mapping, Information Engineering University, 66 Middle Longhai Road, Zhengzhou 450052, China

[2] Xi'an Research Institute of Surveying and Mapping, 1 Middle Yanta Road, Xi'an 710054, China

[3] School of Geological and Surveying Engineering, Chang'an University, 126 Yanta Road, Xi'an 710054, China

来源：

Wuhan Daxue Xuebao (Xinxi Kexue Ban)/ Geomatics and Information Science of Wuhan University | 2010年 / 35卷 / 02期

关键词：

Navigation - Adaptive filters - Kalman filters - Errors - Statistics - Global positioning system;

D O I：

暂无

中图分类号：

O212 [数理统计];

学科分类号：

摘要：

A new factor based on partial state discrepancy was developed. Compared with the standard Kalman filtering, both the adaptive factors constructed by the predicted residuals and partial state discrepancy can resist the influence of the dynamic model errors when no outliers exist in measurements. The precisions of their navigation are almost identical. But if outliers exist in measurements, the adaptive factor based on the predicted residuals can not identify the state model errors and the observation errors while the adaptive factor based on partial state discrepancy can resist the influence of the outliers. Hence, the latter navigation precision is prior to the former navigation precision.

引用

页码：156 / 159