INTEGRATED NAVIGATION SYSTEM INS/GNSS BASED ON ROBUST ADAPTIVE LINEAR AND NONLINEAR NON GAUSSIAN FILTERING WITH FAULT DETECTION INDICATION

摘要

Based on new design of INS/GNSS, it is proposed using Kalman filter (KF) and Non linear approximation techniques such as Extended Kalman Filter (EKF), (Sigma Point Kalman Filter (SPKF) and Divided Difference Filters (DDF) a more robust architecture against Non Gaussian noises. More efficient navigation system is simulated and tested and then the novel architecture called Robust Adaptive Integrated Navigation System (RAINS) with inertial sensors redundancy. A very interesting filtering results are given and discussed under impulsive noises environment.