Adaptive SINS/GPS Outlier Detection and Accommodation Using Innovation Orthogonal |
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Authors: | ZUO Kai ZHONG Mai-ying LIU Bai-qi and GONG Xiao-lin |
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Affiliation: | School of Control Science and Engineering, Shandong University, Jinan 250061, China;School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China;School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China;School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China |
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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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Keywords: | outlier detection accommodation Kalman filter SINS/GPS integration navigation |
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