GNSS/INS integrated navigation system based on adaptive robust kalman filter restraining outliers

Under the complex condition, the abnormal vibration of code tracking loop and carrier tracking loop which cause outliers will affect the position accuracy of the GNSS/INS integrated navigation system. To solve this problem, this paper puts forward a new adaptive robust Kalman filter restraining outliers. This algorithm can eliminate the outliers caused by the abnormal vibration of code tracking loop and carrier tracking. The experiment confirms that the algorithm can improve the position accuracy and robustness of the GNSS/INS integrated navigation system. The algorithm has lower complexity compared to the traditional robust Kalman filter restraining outliers.