Robust Partially Strong Tracking Extended Consider Kalman Filtering for INS/GNSS Integrated Navigation
IEEE ACCESS(2019)
Abstract
Unknown biases or perturbations in the INS/GNSS integrated navigation system may produce unforeseeable negative effects when the navigation states are estimated by using the Kalman filtering and its variants. To mitigate these undesirable effects in the INS/GNSS integrated navigation, a novel partially strong tracking extended consider Kalman filtering (PSTECKF) is proposed. In the presented PSTECKF algorithm, the biases are not estimated, but their covariance and co-covariance are incorporated into the state estimation covariance by using a nonlinear consider approach. Based on the above, the PSTECKF also partially introduces an adaptive fading factor into the predicted covariance of the states, which excludes the co-covariance between the states and biases, to compensate the nonlinear approximation errors and navigation system covariance uncertainties. Simulation results demonstrate the performance of the proposed PSTECKF for INS/GNSS integrated navigation is superior to that of the EKF and ECKF when the biases or perturbations happen in a navigation system.
MoreTranslated text
Key words
Kalman filters,Global navigation satellite system,Mathematical model,Position measurement,Velocity measurement,< monospace xmlns:ali="http:,www,niso,org,schemas,ali,1,0," xmlns:mml="http:,www,w3,org,1998,Math,MathML" xmlns:xlink="http:,www,w3,org,1999,xlink" xmlns:xsi="http:,www,w3,org,2001,XMLSchema-instance"> I <,monospace > NS,GNSS integrated navigation,consider Kalman filter,adaptive filtering,bias,strong tracking
AI Read Science
Must-Reading Tree
Example
![](https://originalfileserver.aminer.cn/sys/aminer/pubs/mrt_preview.jpeg)
Generate MRT to find the research sequence of this paper
Chat Paper
Summary is being generated by the instructions you defined