GPS/DR integrated navigation system based on adaptive robust Kalman filtering

Abstract

The extended Kalman filter (EKF) has had the most widespread use in the vehicle integrated GPS/DR navigation system. The detecting and controlling of the measurement outliers and kinematic state disturbing are very important to improving the quality of kinematic navigation and positioning. However, classical EKF isn't very effective to deal with the influences of measurement outliers and kinematic state disturbing. GPS/DR integrated navigation system state equation, measurement equation and a kind of integrated navigation filter are introduced in the article. The Adaptive Robust extended Kalman filter is used instead of the classical EKF to deal with the observations of GPS/DR integrated navigation field experimentation. It is shown, by GPS/DR integrated navigation field experimentation, the new algorithm can not only improve the filtering estimation accuracy, but also control the influences of measurement outliers and the disturbances of the dynamical model. The new algorithm gives more actual and reliable parameter estimates of the maneuvering vehicles.