SINS/GNSS integrated navigation system based on maximum versoria filter  

作　　者：Chunhui ZHAO Zhenyu YANG Xiaoran CHENG Jinwen HU Xiaolei Hou 

机构地区：[1]School of Automation,Northwestern Polytechnical University,Xi’an 710000,China

出　　处：《Chinese Journal of Aeronautics》2022年第8期168-178,共11页中国航空学报（英文版）

基　　金：co-supported by the National Natural Science Foundation of China(No.62073264);the Key Research and Development Project of Shaanxi Province,China(No.2021ZDLGY01-01 and 2020ZDLGY06-02);National Natural Science Foundation of China(No.61803309);China Postdoctoral Science Foundation(No.2018M633574);the Aeronautical Science Foundation of China(No.2019ZA053008)。

摘　　要：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 nonGaussian 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.

关 键 词：Extended Kalman filter Gaussian kernel function Maximum versoria criterion Missile-borne SINS/GNSS integrated systems 

分 类 号：TN967.2[电子电信—信号与信息处理] TJ765.3[电子电信—信息与通信工程]