GPS /INS Tightly Coupled Integration Based on Adaptive Robust Kalman Filter

Yihe Li and Yunzhong Shen

Abstract:	GPS/INS tightly coupled integration owns many advantages such as high accuracy, independency and compensation with each other. Furthermore, positioning can be implemented even if the number of satellites is less than four. Therefore, it is widely used for the position and attitude determination in the precisely kinematic surveying system. This paper investigates GPS/INS tightly coupled integration based on adaptively robust kalman filter. First, the bi-factor equivalent weight matrix is applied to resist the influences of observational outliers. Then the adaptive factor is estimated with innovation vector for balancing the contribution of the observations and the predicted state information to the parameter estimates. Finally the GPS/INS tightly coupled integrated positioning and attitude determination software is developed according to the algorithm in this paper. In order to present the advantage of adaptively robust kalman filter in tightly coupled integration, three strategies i.e. conventional kalman filter, robust kalman filter and adaptively robust kalman filter are used to process GPS/INS integrated data in tightly coupled integration architecture. First, the field GPS/INS integrated data is processed by the above three strategies. Then these strategies are implemented to deal with the same data except that outliers are randomly simulated and added to the observations. Finally, the GPS/INS integrated data are simulated with abnormal noises to dynamic model, then processed also using the above three strategies. The results show that the adaptively robust filter can not only resist the influences of the abnormal noises on dynamic model, but also resist the the effects of measurement outliers by adaptively tuning the covariance matrices of dynamic model and GPS measurements.
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	2271 - 2279
Cite this article:	Li, Yihe, Shen, Yunzhong, "GPS /INS Tightly Coupled Integration Based on Adaptive Robust Kalman Filter," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 2271-2279.
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