Particle swarm optimization for GPS navigation Kalman filter adaptation

摘要

, we define the degree of ratio of divergence (ROD) as the trace of innovation covariance matrix: Equation 28 [Figure omitted. See Article Image.] This parameter can be utilized for detection of divergence/outliers or adaptation for adaptive filtering. In addition, the other parameter for detecting the high dynamic motion is given by: Equation 29 [Figure omitted. See Article Image.] where: Equation 30 [Figure omitted. See Article Image.] Here,