GPS/MEMS IMU/UWB tightly coupled integrated navigation with robust Kalman filter based on bifactor

Abstract

Robust estimation has been extensively employed and developed in the integrated navigation of Global Positioning System (GPS) receivers and Micro-Electro-Mechanical System (MEMS) Inertial Measurement Unit (IMU). To further reduce or even eliminate the influence of abnormal measurements from GPS receivers/MEMS IMU, the range measurements of Ultra-Wideband (UWB) are introduced. This article proposes a GPS/MEMS IMU/UWB tightly coupled integrated navigation with robust Kalman filter based on bifactor. The proposed model consists of two main components: one is the detection of gross errors, which involves constructing an equivalent weight matrix based on bifactor weight elements; and another is estimation, from which the optimal estimation results are obtained. Finally, the simulated test and field test are carried out to verify the proposed model, and the effectively results of the new robust Kalman filter are drawn.