Volume 35 Issue 2
Feb.  2010
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WU Fumei, YANG Yuanxi, CUI Xianqiang. Application of Adaptive Factor Based on Partial State Discrepancy in Tight Coupled GPS/INS Integration[J]. Geomatics and Information Science of Wuhan University, 2010, 35(2): 156-159.
Citation: WU Fumei, YANG Yuanxi, CUI Xianqiang. Application of Adaptive Factor Based on Partial State Discrepancy in Tight Coupled GPS/INS Integration[J]. Geomatics and Information Science of Wuhan University, 2010, 35(2): 156-159.
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Application of Adaptive Factor Based on Partial State Discrepancy in Tight Coupled GPS/INS Integration

  • 1Institute of Surveying and Mapping,Information Engineering University,66 Middle Longhai Road,Zhengzhou 450052,China;2Xi'an Research Institute of Surveying and Mapping,1 Middle Yanta Road,Xi'an 710054,China;3School of Geological and Surveying Engineering,Chang'an University,126 Yanta Road,Xi'an 710054,China

Funds: 国家自然科学基金资助项目(40774001,40841021,40604003)；国家863计划资助项目(2007AA12Z331)；卫星导航与定位教育部重点实验室(B类)开放研究基金资助项目
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  • Received Date: December 14, 2009
  • Revised Date: December 14, 2009
  • Published Date: February 04, 2010
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  • 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.
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