Title :
GPS navigation with increased immunity to modeling errors
Author :
Rao, K. Deergha ; Swamy, M.N.S. ; Plotkin, E.I.
Author_Institution :
Res. & Training Unit for Navigational Electron., Osmania Univ., Hyderabad, India
fDate :
1/1/2004 12:00:00 AM
Abstract :
A robust extended Kalman filter (EKF) is presented for GPS navigation with outlying errors in the GPS measurements due to failed satellites or unmodeled errors. In this approach, the innovation step of the conventional EKF is modified using the robust statistics concept to obtain a more accurate state estimate in the presence of outlying errors. Performance of the proposed robust EKF in comparison with the conventional EKF, and adaptive EKF is demonstrated through simulation results.
Keywords :
Global Positioning System; Kalman filters; error statistics; state estimation; GPS measurement; GPS navigation; Global Positioning System; modeling error; robust extended Kalman filter; robust statistics; satellites; Clocks; Error analysis; Filters; Global Positioning System; Least squares approximation; Military computing; Military satellites; Robustness; Satellite navigation systems; State estimation;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
DOI :
10.1109/TAES.2004.1292138
