Performance Improvement of GPS/SINS Ultra-Tightly Integrated Navigation System Utilizing a Robust Cubature Kalman Filter

摘要

In aspects of the navigation filter in a GPS/SINS Ultra-Tightly coupledrnnavigation system (UTC), the nonlinear problems, the measurement outliersrnand the disturbance can cause the degradation of the position accuracy. Andrnthis will definitely make an effect of the overall performance of thernintegrated system. In order to overcome the problem and improve thernperformance of the navigation filter, a robust adaptive cubature Kalmanrnfilter (AR-CKF) is introduced to solve the problem. The proposed AR-CKFrnincorporates the robust M estimation to adjust the cubature Kalman filterrnand reduce the measurement outliners. And an adaptive factor is adopted torncope with dynamic disturbance errors. With the proposed method, thernsimulation shows the robust adaptive cubature Kalman filter (AR-CKF) canrneliminate the effects of the outliers and disturbance, therefore the accuracyrnof the GNSS/SINS integrated navigation system is improved effectively.