TY - GEN
T1 - Integrated Navigation Filtering Algorithm in Complex Environments
AU - Xiao, Yifu
AU - Guo, Yuhang
AU - Li, Xingcheng
N1 - Publisher Copyright:
© 2022 ACM.
PY - 2022/12/23
Y1 - 2022/12/23
N2 - Abstract-Though the GNSS/SINS has been widely used to provide high-precision and high-integrity services for many aeronautical applications, GNSS is vulnerable to interference because of its low signal strength, leading to the accuracy degradation of the integrated navigation. To solve this problem, an adaptive Kalman algorithm introduces adaptive factor to adjust filter parameters in real time, so as to ensure the accuracy of integrated navigation in complex environments. Firstly, the state equation and observation equation of the integrated navigation system are determined based on the error equation of SINS. Secondly, the state transition matrix and white noise of the system are equivalently discretized, and then the data is filtered by the adaptive Kalman filter algorithm. Finally, the simulation results show that the adaptive Kalman filter algorithm can improve the integrated navigation accuracy, especially in complex environments.
AB - Abstract-Though the GNSS/SINS has been widely used to provide high-precision and high-integrity services for many aeronautical applications, GNSS is vulnerable to interference because of its low signal strength, leading to the accuracy degradation of the integrated navigation. To solve this problem, an adaptive Kalman algorithm introduces adaptive factor to adjust filter parameters in real time, so as to ensure the accuracy of integrated navigation in complex environments. Firstly, the state equation and observation equation of the integrated navigation system are determined based on the error equation of SINS. Secondly, the state transition matrix and white noise of the system are equivalently discretized, and then the data is filtered by the adaptive Kalman filter algorithm. Finally, the simulation results show that the adaptive Kalman filter algorithm can improve the integrated navigation accuracy, especially in complex environments.
KW - GNSS
KW - Keywords: SINS
KW - adaptive Kalman filter
KW - complex environments
UR - http://www.scopus.com/inward/record.url?scp=85150306634&partnerID=8YFLogxK
U2 - 10.1145/3579109.3579128
DO - 10.1145/3579109.3579128
M3 - Conference contribution
AN - SCOPUS:85150306634
T3 - ACM International Conference Proceeding Series
SP - 110
EP - 113
BT - ICVIP 2022 - Proceeding of the 2022 6th International Conference on Video and Image Processing
PB - Association for Computing Machinery
T2 - 6th International Conference on Video and Image Processing, ICVIP 2022
Y2 - 23 December 2022 through 26 December 2022
ER -