Search

A new nonlinear robust filter is proposed in this paper to deal with the outliers of an integrated Global Positioning System/Strapdown Inertial Navigation System (GPS/SINS) navigation system. The influence of different design parameters for an H∞ cubature Kalman filter is analysed. It is found that when the design parameter is small, the robustness of the filter is stronger. However, the design parameter is easily out of step in the Riccati equation and the filter easily diverges. In this respect, a singular value decomposition algorithm is employed to replace the Cholesky decomposition in the robust cubature Kalman filter. With large conditions for the design parameter, the new filter is more robust. The test results demonstrate that the proposed filter algorithm is more reliable and effective in dealing with the outliers in the data sets produced by the integrated GPS/SINS system. [ABSTRACT FROM AUTHOR]

Although multiple global navigation satellite systems (multi-GNSS) with more visible satellites have a high success rate, they make positioning time-consuming. Partial ambiguity resolution (PAR) can improve the efficiency of multi-GNSS; however, at present PAR cannot simultaneously achieve fast and high-precision positioning with a high success rate. Therefore, PAR based on ambiguity dilution of precision- and convex-hull-based satellite selection is proposed. The experimental results of the proposed PAR, its corresponding satellite selection algorithm, the classical PAR, and the low-cutoff-elevation-angle-based multi-GNSS show that the proposed PAR outperforms the classical PAR, i.e., it achieves fast and high-precision positioning with a success rate of 100⋅0%. Furthermore, in terms of R-ratio-test-based ambiguity validation, it improves the reliability of carrier-phase-based integrity monitoring of multi-GNSS and the corresponding satellite selection algorithms. In addition, its positioning accuracy is close to that of multi-GNSS and higher than that of the classical PAR, with maximum differences of 0⋅3 and 2⋅4 cm, respectively. The proposed single (dual) frequency-based PAR improves single/dual-frequency multi-GNSS efficiency by more than 54⋅9%/80⋅4% (42⋅0%/75⋅8%) when 14⋅4 (13⋅2) out of 24⋅4 satellites are selected. [ABSTRACT FROM AUTHOR]