Author:
Gao Guangle,Gao Shesheng,Hong Genyuan,Peng Xu,Yu Tian
Abstract
In order to achieve a highly autonomous and reliable navigation system for aerial vehicles that involves the spectral redshift navigation system (SRS), the inertial navigation (INS)/spectral redshift navigation (SRS)/celestial navigation (CNS) integrated system is designed and the spectral-redshift-based velocity measurement equation in the INS/SRS/CNS system is derived. Furthermore, a new chi-square test-based robust Kalman filter (CSTRKF) is also proposed in order to improve the robustness of the INS/SRS/CNS navigation system. In the CSTRKF, the chi-square test (CST) not only detects measurements with outliers and in non-Gaussian distributions, but also estimates the statistical characteristics of measurement noise. Finally, the results of our simulations indicate that the INS/SRS/CNS integrated navigation system with the CSTRKF possesses strong robustness and high reliability.
Funder
National Natural Science Foundation of China
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Cited by
13 articles.
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