Application of Anti-Outlier UKF Algorithm in Integrated Navigation

Abstract:

In view of the problems on nonlinearity of system model and robustness of filtering algorithm in Integrated Navigation, the algorithm of Unscented Kalman Filter (UKF) for outlier rejection is studied. The algorithm identifies outliers firstly by using the new observation rate, and then rectifies the observation outliers by using of Newton interpolation and finally gets the relatively more accurate estimated value. The combination of Newton interpolation and UKF resolves the nonlinear problem of the system model as well as effectively suppresses the impact of outliers to filtering algorithm. And effectiveness of the methodology has been proved by simulation.

• Periodical: Applied Mechanics and Materials (Volumes 641-642)
• Pages: 1307-1311
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.641-642.1307
• Online since: September 2014
• Authors: Wen Chao Liu, Hong Wei Bian, Rong Ying Wang
• Keywords: Anti-Outlier, Integrated Navigation, Newton Interpolation, UKF

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