An improved multiple-outlier-robust GNSS/INS EKF filer based on multiple statistical similarity measure
Houzeng Han,
Tao Xu,
Rongheng Li
et al.
Abstract:High-precision and highly reliable location information is the key support for autonomous driving applications. Global Navigation satellite system (GNSS)/Inertial navigation system (INS) integrated positioning is a typical high-precision positioning technology. However, satellite signals are easily affected by various interferences such as signal blocking and multipath problems, leading to performance degradation in complex urban environments. The traditional extended Kalman filtering (EKF) cannot handle obser… Show more
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