A SINS/BDS Integrated Navigation Method Based on Classified Weighted Adaptive Filtering

Xuchao Kang, Guangjun He and Xingge Li

Mathematical Problems in Engineering, 2019, vol. 2019, 1-6

Abstract:

Aiming at the problem that the accuracy and stability of SINS/BDS integrated navigation system decrease due to uncertain model and observation anomalies, a SINS/BDS integrated navigation method based on classified weighted adaptive filtering is proposed. Firstly, the innovation covariance matching technology is used to detect whether there is any abnormality in the system as a whole. Then the types of anomalies are distinguished by hypothesis test. Different types of anomalies have different effects on state estimation. Based on the dynamic changes of innovation, different adaptive weighting methods are adopted to correct navigation information. The simulation results show that this method can effectively improve the fault-tolerant performance of integrated navigation system in complex environment with unknown anomaly types. When both model anomalies and observation anomalies exist, the speed and position accuracy are increased by 42% and 24% compared with the standard KF, 38% and 22% compared with the innovation orthogonal adaptive filtering, which has higher navigation accuracy.

Date: 2019
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2019/2158351.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2019/2158351.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:2158351

DOI: 10.1155/2019/2158351

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().