Volume 33 Issue 8
Aug.  2008
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HE Dian, YUAN Yunbin, CHAI Yanju. On Adapting Kalman Filtering for Adjusting Observation Noise Covariance in GPS/INS Integration[J]. Geomatics and Information Science of Wuhan University, 2008, 33(8): 838-841.
Citation: HE Dian, YUAN Yunbin, CHAI Yanju. On Adapting Kalman Filtering for Adjusting Observation Noise Covariance in GPS/INS Integration[J]. Geomatics and Information Science of Wuhan University, 2008, 33(8): 838-841.
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On Adapting Kalman Filtering for Adjusting Observation Noise Covariance in GPS/INS Integration

  • 1Key Laboratory of Dynamical Geodesy Institute of Geodesy and Geophysics,Chinese Academy of Sciences,340 Xudong Street,Wuhan 430077,China;2Graduate University of Chinese Academy of Sciences,A 19 Yuquan Road,Beijing 100049,China

Funds: 国家杰出青年科学基金资助项目(40625013)，国家863计划资助项目(2007AA12Z311)
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  • Received Date: June 14, 2008
  • Revised Date: June 14, 2008
  • Published Date: August 04, 2008
    Graphical Abstract
    • Abstract
  • In GPS/INS integration algorithm,the effect of observation error on the integrated system should not be ignored,since the solution of GPS is not always precise enough.A new method is proposed that the measurement noise covariance matrix is adapted to improve the GPS/INS integration algorithm,based on the innovation sequence and the selected weight filtering.The experimental result shows that the abnormal errors are conspicuously controlled as well as the filtering precision of the parameters is improved.
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