The Application of Robust Estimation and Allan Variance Method in Land Vehicle Navigation

doi:10.3969/j.issn.1000-1093.2013.07.015

Abstract

Abstract: In order to solve the problems existing in integrated navigation system, such as global positioning system (GPS) signal interruption, interference and short operating time of inertial navigation system (INS), a fault detection and isolation module is integrated in the navigation system, with which the faulty GPS measurements could be excluded so as to improve the system reliability and availability. Meanwhile, the inertial sensor errors are analyzed with Allan variance method and compensated in the computation procedure so that the navigation system can operate with an acceptable accuracy as long as possible when GPS signal interruption happens. The experimental results show that the proposed method can effectively enhance the performance of the integrated navigation system, especially when GPS signal is interrupted.

Key words: ordnance science and technology, integrated navigation, fault detection, fault isolation, Allan variance

CLC Number:

TG156

WU You-long, WANG Xiao-ming, CAO Peng. The Application of Robust Estimation and Allan Variance Method in Land Vehicle Navigation[J]. Acta Armamentarii, 2013, 34(7): 889-895.

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