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A robust state estimation technique based on the Huber-based Cubature Kalman Filter (HCKF) is proposed for Global Positioning System (GPS) navigation processing. The Cubature Kalman Filter (CKF) employs a third-degree spherical-radial cubature rule to compute the Gaussian weighted integration, such that the numerical instability induced by round-off errors can be avoided. In GPS navigation, the filter-based estimation of the position and velocity states can be severely degraded due to contaminated measurements caused by outliers or deviation from a Gaussian distribution assumption. For the signals contaminated with non-Gaussian noise or outliers, a robust scheme combining the Huber M-estimation methodology and the CKF framework is beneficial where the Huber M-estimation methodology is used to reformulate the measurement information of the CKF. GPS navigation processing using the HCKF algorithm has been carried out and the performance has been compared to those based on the Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and CKF approaches. Simulation and experimental results presented in this paper confirm the effectiveness of the method. [ABSTRACT FROM AUTHOR]

This paper presents a sensor fusion method for the Ultra-Tightly Coupled (UTC) Global Positioning System (GPS)/Inertial Navigation System (INS) integrated navigation. The UTC structure, also known as the deep integration, exhibits many advantages, e.g., disturbance and multipath rejection capability, improved tracking capability for dynamic scenarios and weak signals, and reduction of acquisition time. This architecture involves the integration of I (in-phase) and Q (quadrature) components from the correlator of a GPS receiver with the INS data. The Particle Filter (PF) exhibits superior performance as compared to an Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) in state estimation for the nonlinear, non-Gaussian system. To handle the problem of heavy-tailed probability distribution, one of the strategies is to incorporate the UKF into the PF as the proposal distribution, leading to the Unscented Particle Filter (UPF). The combination of an adaptive UPF and Fuzzy Logic Adaptive System (FLAS) is adopted for reducing the number of particles with sufficiently good results. The GPS tracking loops may lose lock due to the signals being weak, subjected to excessive dynamics or completely blocked. One of the principal advantages of the UTC structure is that a Doppler frequency derived from the INS is integrated with the tracking loops to improve the receiver tracking capability. The Doppler frequency shift is calculated and fed to the GPS tracking loops for elimination of the effect of stochastic errors caused by the Doppler frequency. In this paper, several nonlinear filtering approaches, including EKF, UKF, UPF and ‘FLAS assisted UPF’ (FUPF), are adopted for performance comparison for ultra-tight integration of GPS and INS. It is assumed that no outage occurs such that the inertial sensor errors can be properly corrected and accordingly the aiding information is working well. Two examples are provided for performance assessment for the various data fusion methods. The FUPF algorithm with Doppler velocity aiding demonstrates remarkable improvement, especially in the high dynamic environments, in navigation estimation accuracy with reduction of number of particles. [ABSTRACT FROM PUBLISHER]