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Tightly Coupled GNSS/INS Integration based on Robust M-Estimators

Garcia Crespillo, Omar and Medina, Daniel and Skaloud, Jan and Meurer, Michael (2018) Tightly Coupled GNSS/INS Integration based on Robust M-Estimators. ION/IEEE PLANS 2018, Monterey, CA.

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Abstract

The combination of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS) has become the baseline of many vehicular applications. However, in challenging GNSS scenarios, classical GNSS/INS integration estimators are very sensitive to multiple measurement faults (e.g., due to multipath). 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 more robust estimators, like M-estimators. We consider different faulty scenarios where the pseudoranges contain one or several non-modeled biases and ramps. The tightly-coupled GNSS/INS robust Kalman filter performance in the presence of faults is compared with the classical EKF and with a loosely-coupled Robust-GNSS/INS approach. The robust tightly-coupled version is able to minimize more efficiently the faults effect thanks to the direct redundancy of the inertial sensor within the robust estimator.

Item URL in elib:https://elib.dlr.de/120257/
Document Type:Conference or Workshop Item (Speech)
Title:Tightly Coupled GNSS/INS Integration based on Robust M-Estimators
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garcia Crespillo, Omaromar.garciacrespillo (at) dlr.deUNSPECIFIED
Medina, DanielUNSPECIFIEDUNSPECIFIED
Skaloud, JanUNSPECIFIEDUNSPECIFIED
Meurer, MichaelUNSPECIFIEDUNSPECIFIED
Date:2018
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Robust Estimation, Kalman filtering, Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), Denied Navigation, Multipath
Event Title:ION/IEEE PLANS 2018
Event Location:Monterey, CA
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:19 Jun 2018 17:01
Last Modified:19 Jun 2018 17:01

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