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A Stepped Robust and Adaptive Filtering and Its Applications in GPS Kinematic Navigation

GUI Qingming1,2 XU Apei1 HAN Songhui1 (1 Institute of Science,Information Engineering University,62 Kexue Road,Zhengzhou 450001,China) (2 Institute of Surveying and Mapping,Information Engineering University,66 Middle Longhai Road,Zhengzhou 450052,China)  
A robust and adaptive filtering algorithm is proposed.Firstly,the observed values are corrected by the robust biased estimation such as robust ridge estimator,which only uses the original observed information before the calculation of the filter.Secondly,the errors of the dynamic model are eliminated through the adaptive factor.The effects of the errors from the measurement model and dynamic model can be resisted in two steps.Finally,a large number of GPS kinematic navigation calculative experiments were given to prove the validities and stabilities of this method.
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