An Improved Gaussian Sum Extended Kalman Filter With Colored Noise for GNSS/SINS Tightly Coupled Positioning and Attitude Determination Systems
Qing Dai,
Guorui Xiao,
Ru Wan
et al.
Abstract:The Gaussian sum extended Kalman filter (GSEKF), as a nonlinear non-Gaussian filter, disregards the impact of colored noise components in non-Gaussian noise engendered by external interference, which may compromise the estimation accuracy in global navigation satellite system/strapdown inertial navigation system (GNSS/SINS) tightly coupled positioning and attitude determination systems. To address this problem, an improved Gaussian sum extended Kalman filter with colored noise (colored-GSEKF) is proposed to re… Show more
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