TY - JOUR
T1 - SINS/GNSS integrated navigation system based on maximum versoria filter
AU - ZHAO, Chunhui
AU - YANG, Zhenyu
AU - CHENG, Xiaoran
AU - HU, Jinwen
AU - Hou, Xiaolei
N1 - Publisher Copyright:
© 2021 Chinese Society of Aeronautics and Astronautics
PY - 2022/8
Y1 - 2022/8
N2 - In the missile-borne Strapdown Inertial Navigation System/Global Navigation Satellite System (SINS/GNSS) integrated navigation system, due to the factors such as the high dynamics, the signal blocking by obstacles, the signal intefereces, etc., there always exist pulse interferences or measurement information interruptions in the satellite receiver, which make nonstationary measurement process. The traditional Kalman Filter (KF) can tackle the state estimation problem under Gaussian white noise, but its performance will be significantly reduced under non-Gaussian noises. In order to deal with the non-Gaussian conditions in the actual missile-borne SINS/GNSS integrated navigation systems, a Maximum Versoria Criterion Extended Kalman Filter (MVC-EKF) algorithm is proposed based on the MVC and the idea of M-estimation, which assigns a smaller weight to the anomalous measurements so as to suppress the influence of anomalous measurements on the state estimation while maintaining a relatively low calculation cost. Finally, the integrated navigation simulation experiments prove the effectiveness and robustness of the proposed algorithm.
AB - In the missile-borne Strapdown Inertial Navigation System/Global Navigation Satellite System (SINS/GNSS) integrated navigation system, due to the factors such as the high dynamics, the signal blocking by obstacles, the signal intefereces, etc., there always exist pulse interferences or measurement information interruptions in the satellite receiver, which make nonstationary measurement process. The traditional Kalman Filter (KF) can tackle the state estimation problem under Gaussian white noise, but its performance will be significantly reduced under non-Gaussian noises. In order to deal with the non-Gaussian conditions in the actual missile-borne SINS/GNSS integrated navigation systems, a Maximum Versoria Criterion Extended Kalman Filter (MVC-EKF) algorithm is proposed based on the MVC and the idea of M-estimation, which assigns a smaller weight to the anomalous measurements so as to suppress the influence of anomalous measurements on the state estimation while maintaining a relatively low calculation cost. Finally, the integrated navigation simulation experiments prove the effectiveness and robustness of the proposed algorithm.
KW - Extended Kalman filter
KW - Gaussian kernel function
KW - Maximum versoria criterion
KW - Missile-borne SINS/GNSS integrated systems
UR - http://www.scopus.com/inward/record.url?scp=85127305744&partnerID=8YFLogxK
U2 - 10.1016/j.cja.2021.10.024
DO - 10.1016/j.cja.2021.10.024
M3 - 文章
AN - SCOPUS:85127305744
SN - 1000-9361
VL - 35
SP - 168
EP - 178
JO - Chinese Journal of Aeronautics
JF - Chinese Journal of Aeronautics
IS - 8
ER -