GNSS/INS Tightly Coupled Positioning of Engineering Vehicle Based on Adaptive Gaussian Progressive Filter
The GNSS/INS tightly coupled location problem of engineering vehicle under the influence of measurement outliers is stud-ied,and a vehicle location method based on adaptive Gaussian progressive filtering is proposed.Firstly,in order to reduce the risk of fil-ter damage caused by measured outliers,the hypothesis testing method is used to detect and eliminate measurement outliers.Secondly,an adaptive Gaussian progressive filtering method is designed to compensate the uncertainty of measurement for the degradation of posi-tioning performance caused by outliers.In particular,by using the relationship between the linearization error and the system estimation error,the progressive measurement update method is improved,so as to realize the indirect compensation of the linearization error.Final-ly,the reliability and superiority of the proposed method are verified through GNSS/INS tightly coupled positioning experiment.
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