Performance enhancement of PPP/SINS tightly coupled navigation based on improved robust maximum correntropy kalman filtering

Abstract

Extended kalman filter (EKF) is widely used to integrated navigation system of global navigation satellite system (GNSS) and strapdown inertial navigation system (SINS). However, non-Gaussian noise and the uncertainty of measurement noise can seriously reduce the performance of EKF, so it is difficult to obtain an optimal GNSS/INS integration solution. At present, non-Gaussian noise processing is still a difficult issue in filter research. In this paper, an adaptive and robust maximum correntropy extended kalman filter (MCEKF) method based on Cauchy kernel function is proposed to solve the above problem. Thanks to the excellent properties of Cauchy kernel function, the proposed method can effectively avoid filter faults and has better stability. However, the performance of MCEKF depends on the select of kernel bandwidth parameter, which is a difficult problem in the engineering application of MCEKF. In this paper, the switching kernel bandwidth algorithm is employed to adaptively estimate the kernel bandwidth parameter to solve the tradeoff between convergence rate and steady-state misalignment in the MCEKF algorithm under constant kernel bandwidth. Finally, the performance of the proposed algorithm is verified by two sets of vehicle-mounted precise point positioning (PPP) and SINS tightly coupled integration experiments in urban environment. The results show that compared with EKF, the proposed method can significantly improve the positioning accuracy, that is, the PPP/SINS positioning accuracy based on GE, GR and GRE system is improved by 25.1 %, 2.5 % and 17.0 % in D196 experiment, and 23.5 %, 16.5 % and 31.8 % in D107 experiment, respectively. The velocity and attitude accuracy of the two methods are similar. The velocity errors of all schemes can reach cm/s level. The roll, pitch and heading errors of navigation-grade inertial sensor are all less than 0.12 degree. The roll and pitch errors of MEMS are less than 1.0 degree, the heading error of the G, GE, GR, and GRE systems are 1.719, 1.464, 1.676, and 1.475 degree, respectively.