Research on PPP/INS Algorithm Based on Sequential Sage-Husa Adaptive Filtering

Song, Haoran; Cheng, Sixiang; Xu, Zhao; Zang, Nan

doi:10.1007/978-981-19-2588-7_35

Cited by 3 publications

(1 citation statement)

References 5 publications

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“…The Sage-Husa filter algorithm can obtain real-time statistical data on current epoch process noise and measurement noise. However, when the moving carrier generates a large disturbance, it is difficult for this kind of filter algorithm to distinguish between the model error and measurement noise, thus affecting the estimation results ( Song et al, 2022 ; Chen et al, 2023 ). The fading filter algorithm makes the algorithm meet the optimality through a fading factor, but this method is limited to dealing with non-Gaussian process noise only ( Sun et al, 2022 ; Wang et al, 2022 ).…”

Section: Introductionmentioning

confidence: 99%

A novel Gaussian sum quaternion constrained cubature Kalman filter algorithm for GNSS/SINS integrated attitude determination and positioning system

Dai,

Xiao,

Zhou

et al. 2024

Front. Neurorobot.

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The quaternion cubature Kalman filter (QCKF) algorithm has emerged as a prominent nonlinear filter algorithm and has found extensive applications in the field of GNSS/SINS integrated attitude determination and positioning system (GNSS/SINS-IADPS) data processing for unmanned aerial vehicles (UAV). However, on one hand, the QCKF algorithm is predicated on the assumption that the random model of filter algorithm, which follows a white Gaussian noise distribution. The noise in actual GNSS/SINS-IADPS is not the white Gaussian noise but rather a ubiquitous non-Gaussian noise. On the other hand, the use of quaternions as state variables is bound by normalization constraints. When applied directly in nonlinear non-Gaussian system without considering normalization constraints, the QCKF algorithm may result in a mismatch phenomenon in the filtering random model, potentially resulting in a decline in estimation accuracy. To address this issue, we propose a novel Gaussian sum quaternion constrained cubature Kalman filter (GSQCCKF) algorithm. This algorithm refines the random model of the QCKF by approximating non-Gaussian noise with a Gaussian mixture model. Meanwhile, to account for quaternion normalization in attitude determination, a two-step projection method is employed to constrain the quaternion, which consequently enhances the filtering estimation accuracy. Simulation and experimental analyses demonstrate that the proposed GSQCCKF algorithm significantly improves accuracy and adaptability in GNSS/SINS-IADPS data processing under non-Gaussian noise conditions for Unmanned Aerial Vehicles (UAVs).

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Section: Introductionmentioning

confidence: 99%

A novel Gaussian sum quaternion constrained cubature Kalman filter algorithm for GNSS/SINS integrated attitude determination and positioning system

Dai,

Xiao,

Zhou

et al. 2024

Front. Neurorobot.

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An improved wide-lane ambiguity resolution method for kinematic smartphone positioning

Zhang,

Jiang,

Gao

et al. 2024

J. Navigation

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The release of GNSS raw data on Android smartphones provides the potential for high-precision smartphone positioning using multi-constellation and multi-frequency signals. However, severe multipath and low observation quality in kinematic environments make double-differenced uncombined ambiguities difficult to resolve reliably. To address this, the paper proposes an improved wide-lane (WL) integer ambiguity resolution (IAR) method that combines integer rounding and the Least-Square AMBiguity Decorrelation Adjustment (LAMBDA) methods. The proposed method achieved fix rates of 57% to 70% in challenging environments, with an average improvement of 7 · 7% in horizontal positioning accuracy compared to the float solution. The traditional partial integer rounding method only improved accuracy by 1 · 1%.

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Mitigating the Impact of Inaccurate State Variance-Covariance Matrix in Kalman Filtering for Real-Time PPP with Low-Cost GNSS Devices

Zhang,

Jiang,

Gao

2023

Proceedings of the 36th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 202

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Research on PPP/INS Algorithm Based on Sequential Sage-Husa Adaptive Filtering

Cited by 3 publications

References 5 publications

A novel Gaussian sum quaternion constrained cubature Kalman filter algorithm for GNSS/SINS integrated attitude determination and positioning system

A novel Gaussian sum quaternion constrained cubature Kalman filter algorithm for GNSS/SINS integrated attitude determination and positioning system

An improved wide-lane ambiguity resolution method for kinematic smartphone positioning

Mitigating the Impact of Inaccurate State Variance-Covariance Matrix in Kalman Filtering for Real-Time PPP with Low-Cost GNSS Devices

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