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Robust Tightly Coupled GNSS/INS Estimation for Navigation in Challenging Scenarios

Garcia Crespillo, Omar and Arias Medina, Daniel and Grosch, Anja and Skaloud, Jan and Meurer, Michael (2017) Robust Tightly Coupled GNSS/INS Estimation for Navigation in Challenging Scenarios. In: European Navigation Conference, ENC 2017. European Navigation Conference 2017, Lausanne, Switzerland.

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Abstract

The combination of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS) has become the baseline of many transportation applications. In this work, we design a tightly-coupled integration between GNSS and INS where we modify the update step of a classical Extended Kalman Filter (EKF) to consider different robust estimators (such as M-estimators). We consider different faulty scenarios where the pseudoranges contain one or several non-modeled biases. The tightly-coupled GNSS/INS robust Kalman filter performance in the presence of biases is compared with the classical EKF. The robust tightly-coupled version is able to minimize more efficiently the biases effect thanks to the direct redundancy of the inertial sensor within the robust estimator.

Item URL in elib:https://elib.dlr.de/112938/
Document Type:Conference or Workshop Item (Speech)
Title:Robust Tightly Coupled GNSS/INS Estimation for Navigation in Challenging Scenarios
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garcia Crespillo, Omaromar.garciacrespillo (at) dlr.deUNSPECIFIED
Arias Medina, DanielUNSPECIFIEDUNSPECIFIED
Grosch, AnjaUNSPECIFIEDUNSPECIFIED
Skaloud, JanUNSPECIFIEDUNSPECIFIED
Meurer, MichaelUNSPECIFIEDUNSPECIFIED
Date:2017
Journal or Publication Title:European Navigation Conference, ENC 2017
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:GNSS, INS, Robust Estimator, Kalman Filter
Event Title:European Navigation Conference 2017
Event Location:Lausanne, Switzerland
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:air traffic management and operations
DLR - Research area:Aeronautics
DLR - Program:L AO - Air Traffic Management and Operation
DLR - Research theme (Project):L - Communication, Navigation and Surveillance
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Navigation
Deposited By: Garcia Crespillo, Omar
Deposited On:06 Jul 2017 17:50
Last Modified:09 Feb 2018 18:31

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