A Robust Cubature Kalman Filter with Abnormal Observations Identification Using the Mahalanobis Distance Criterion for Vehicular INS/GNSS Integration

Author:

Gao BingbingORCID,Hu Gaoge,Zhu XinheORCID,Zhong YongminORCID

Abstract

INS/GNSS (inertial navigation system/global navigation satellite system) integration is a promising solution of vehicle navigation for intelligent transportation systems. However, the observation of GNSS inevitably involves uncertainty due to the vulnerability to signal blockage in many urban/suburban areas, leading to the degraded navigation performance for INS/GNSS integration. This paper develops a novel robust CKF with scaling factor by combining the emerging cubature Kalman filter (CKF) with the concept of Mahalanobis distance criterion to address the above problem involved in nonlinear INS/GNSS integration. It establishes a theory of abnormal observations identification using the Mahalanobis distance criterion. Subsequently, a robust factor (scaling factor), which is calculated via the Mahalanobis distance criterion, is introduced into the standard CKF to inflate the observation noise covariance, resulting in a decreased filtering gain in the presence of abnormal observations. The proposed robust CKF can effectively resist the influence of abnormal observations on navigation solution and thus improves the robustness of CKF for vehicular INS/GNSS integration. Simulation and experimental results have demonstrated the effectiveness of the proposed robust CKF for vehicular navigation with INS/GNSS integration.

Funder

Fundamental Research Funds for the Central Universities

National Natural Science Foundation of China

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

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