| Citation: | LIU Z W，SUN R，JIANG L. Robust adaptive position algorithm for GNSS/IMU based on pseudorange residual and innovation[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（4）：1316-1324 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0389
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Algorithms of robust filtering and adaptive filtering are commonly used to improve the positioning accuracy of the navigation system integrating global navigation satellite system (GNSS) and inertial measurement units (IMU). However, the conditions applicable to robust filtering and adaptive filtering are different, and improper use of the filter may reduce the positioning accuracy of the integrated system. To solve this problem, a robust adaptive position algorithm for GNSS/IMU is proposed based on pseudorange residual and innovation. The positioning quality of GNSS is evaluated based on pseudorange residuals. The appropriate filtering algorithm is selected to solve the GNSS/IMU integrated navigation. Innovation and pseudorange residuals are then used to determine whether the IMU kinematic estimation error is greater than the GNSS observation error in long-time low quality GNSS. The robust factor is used based on the determined results. Experimental results show that the positioning accuracy of the proposed algorithm is improved by 36.05%, 22.71%, and 56.22% in the east, north and up directions, respectively, compared with the results from the extended Kalman filter algorithm.
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