Application of Adaptive Factor Based on Partial State Discrepancy in Tight Coupled GPS/INS Integration

A new factor based on partial state discrepancy was developed.Compared with the standard Kalman filtering,both the adaptive factors constructed by the predicted residuals and partial state discrepancy can resist the influence of the dynamic model errors when no outliers exist in measurements.The precisions of their navigation are almost idential.But if outliers exist in measurements,the adaptive factor based on the predicted residuals can not identify the state model errors and the observation errors while the adaptive factor based on partial state discrepancy can resist the influence of the outliers.Hence,the latter navigation precision is prior to the former navigation precision.