This paper addresses the numerical and statistical stability in the integration of inertial navigation system and global navigation satellite system (GNSS) using Kalman filter (KF). Due to the different units used in horizontal and vertical components of the geodetic (curvilinear) coordinates in the vicinity of the earth's surface, i.e. radians in the former and meters in the latter, the covariance of the innovation vector in KF, which should be inversed, can be ill-conditioned, resulting in severe numerical instability. A simple rescaling method is proposed to address this problem, specifically, the horizontal components of the positioning error, i.e. the latitude and longitude errors are rescaled by multiplying the average radius of the earth and hence the covariance of the state, and the state space model should be modified accordingly. This method is applicable on most of the earth surface except for two small regions near the poles. Due to the multipath and/or jamming effect under some adverse circumstances, the GNSS measurements are prone to outliers which will degrade the KF's performance severely. A robust refinement to the KF based on Chi-square test and covariance inflation is proposed to make the integration outlier-resistant, and specifically, in the presence of GNSS measurements, a Chi-square test is carried out to detect outlier, and once detected, the outlier is less weighted by inflating the covariance of the innovation vector, and the inflating factor is solved in closed form. Simulation results validate the efficacy of the proposed method.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Numerically and statistically stable Kalman filter for INS/GNSS integration


    Beteiligte:


    Erscheinungsdatum :

    2016




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch



    Klassifikation :

    BKL:    55.50 Luftfahrzeugtechnik / 55.60 Raumfahrttechnik
    Lokalklassifikation TIB:    275/7040



    Numerically and statistically stable Kalman filter for INS/GNSS integration

    Liu, Ming / Chang, Guobin | SAGE Publications | 2016


    Robust numerically stable Kalman filter for autonomous vehicles

    BOSSE MICHAEL CARSTEN / COSTANTINO ADRIAN MICHAEL / DAS SUBHASIS et al. | Europäisches Patentamt | 2023

    Freier Zugriff


    Modified federated Kalman filter for INS/GNSS/CNS integration

    Hu, Gaoge / Gao, Shesheng / Zhong, Yongmin et al. | SAGE Publications | 2016


    System and method for hybrid optical/inertial headtracking via numerically stable Kalman filter

    KIRCHNER WILLIAM T / FOOTE BOBBY D / GEORGE CHRISTOPHER L et al. | Europäisches Patentamt | 2019

    Freier Zugriff