Tightly Coupled GPS/INS Integrated Navigation Algorithm Based on Kalman Filter

Zhang, Jinliang; Zhang, Tao; Jiang, Xuehuan; Wang, Sishan

doi:10.1109/bcgin.2012.159

Cited by 5 publications

(1 citation statement)

References 6 publications

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“…It overcomes the defects that the output information errors of the SINS accumulate over time and the measurements of BDS are easily affected by the environment. Therefore, SINS/BDS has been widely used in the design of aircraft navigation systems [2][3][4]. However, with the development of hypersonic vehicles, the rapid increase of flight speed makes the flight environment of the aircraft change rapidly in a short time; it will cause the aircraft to be disturbed by more uncertain factors.…”

Section: Introductionmentioning

confidence: 99%

A SINS/BDS Integrated Navigation Method Based on Classified Weighted Adaptive Filtering

Kang

2019

Mathematical Problems in Engineering

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Aiming at the problem that the accuracy and stability of SINS/BDS integrated navigation system decrease due to uncertain model and observation anomalies, a SINS/BDS integrated navigation method based on classified weighted adaptive filtering is proposed. Firstly, the innovation covariance matching technology is used to detect whether there is any abnormality in the system as a whole. Then the types of anomalies are distinguished by hypothesis test. Different types of anomalies have different effects on state estimation. Based on the dynamic changes of innovation, different adaptive weighting methods are adopted to correct navigation information. The simulation results show that this method can effectively improve the fault-tolerant performance of integrated navigation system in complex environment with unknown anomaly types. When both model anomalies and observation anomalies exist, the speed and position accuracy are increased by 42% and 24% compared with the standard KF, 38% and 22% compared with the innovation orthogonal adaptive filtering, which has higher navigation accuracy.

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Section: Introductionmentioning

confidence: 99%