OUTLIER INFLUENCE CONTROL IN GPS/INS NAVIGATION WITH INTERACTING MULTIPLE MODEL ALGORITHM
基于交互多模型的组合导航观测异常影响控制

Interacting multiple model algorithm is proposed to control the influence of observation outliers in GPS/INS navigation.Redundant observations are not requested in this method.A multi-model set which includes both normal and exceptional observational models is established.The Markov transition probabilities are used to switch one model to another.When observations are normal,the normal observation model is used chiefly for the others the exceptional observation model works.Consequently,the algorithm can eff...