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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2010> 19(4): 427-431
ZUO Kai, ZHONG Mai-ying, LIU Bai-qi, GONG Xiao-lin. Adaptive SINS/GPS Outlier Detection and Accommodation Using Innovation Orthogonal[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2010, 19(4): 427-431.
Citation: ZUO Kai, ZHONG Mai-ying, LIU Bai-qi, GONG Xiao-lin. Adaptive SINS/GPS Outlier Detection and Accommodation Using Innovation Orthogonal[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2010, 19(4): 427-431.
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Adaptive SINS/GPS Outlier Detection and Accommodation Using Innovation Orthogonal

  • 1.

    School of Control Science and Engineering, Shandong University, Jinan 250061, China

  • 2.

    School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China

  • Received Date:2010-01-08
    Abstract
  • The outlier detection and accommodation of integration navigation of strapdown inertial navigation systems and global position system (SINS/GPS) were studied. Based on analyzing the innovation orthogonal property in Kalman filter, an outlier adaptive detection approach was first presented, which included the determination of evaluation function and threshold and the logic decision of outlier occurrence. To effectively attenuate the influence on estimation accuracy, a modified Kalman filter algorithm was proposed by accommodation of the dynamic data with outlier. Results of data processing from vehicle-test SINS/GPS integration navigation show the effectiveness of the proposed method.
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