An Algorithm of GPS Navigation Based on Robust Self-Tuning Kalman Filtering
ZHANG Shuangcheng~1 YANG Yuanxi~2 ZHANG Qin~1(1 Institute of Geo-engineering and Surveying, Chang'an University, 126 Yanta Road, Xi'an 710054, China)(2 Xi'an Research Institute of Surveying and Mapping,1 Middle Yanta Road, Xi'an 710054, China)
In order to avoid estimating the noise statistics in navigation, self-tuning Kalman filtering is introduced. When the system contains outliers in navigation, the estimated state vector by self-tuning Kalman filtering is influenced. To get a reliable result, an equivalent weight based on robust M-estimator is applied in the process of self-tuning Kalman filtering; robust self-tuning Kalman filtering is then proposed in this paper. A real kinematic system is tested. It is shown by real calculation that the robust self-tuning Kalman filtering is not only adaptively estimate the state vector, but also guarantee the reliability of the kinematic state estimates.