Abstract:

The global navigation satellite systems/inertial measurement units (GNSS/IMU) integrated system cannot achieve optimal performance with the coexistence of GNSS signal interface when adopting adaptive Kalman filter (AKF) or extensive Kalman filter (EKF) independtly. In order to design the data fusion filter of integrated navigation system, determining the the empirical value of the critical interference level for EKF and AKF is necessary. The essential equations of EKF and IAE are overviewed and a verification method is proposed. The method carries out field test to collect real data and imports simulated noise to the measurements to compare the positioning accuracy between innovationbased adaptive estimation (IAE), which is one of the proved AKF algorithms, and EKF. The test and simulation determine the empirical value of the positioning performance and the critical interference level for IAE and EKF.