浙江大学学报(工学版)  2018, Vol. 52 Issue (8): 1482-1488    DOI: 10.3785/j.issn.1008-973X.2018.08.007
 航空航天技术

1. 上海交通大学 航空航天学院, 上海 200240;
2. 上海飞机设计研究院, 上海 200436
Variational Bayesian filtering based on Student-t distribution for SINS/GPS integrated navigation
HU Miao-miao1, JING Zhong-liang1, DONG Peng1, ZHOU Gui-rong2, ZHENG Zhi-ming2
1. College of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China;
2. Shanghai Aircraft Design and Research Institute, Shanghai 200436, China
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Abstract:

In order to resolve the problem of performance degradation caused by the outliers in the traditional filtering methods, a variational Bayesian Gaussian filtering (VBGF) algorithm based on Student-t distribution was proposed for SINS/GPS integrated navigation model. The proposed algorithm took full account of the characteristics of the heavy-tailedness caused by outliers, and the measurement noise was modeled as Student-t distribution. State variables were estimated with latent variables, and the estimation was iterated at each time to approximate the real joint posterior distribution of state and latent variables using the variational Bayesian learning. The results of simulation with outliers show that the proposed filtering algorithm is robust with outliers to a certain degree and reaches a higher precision than the traditional methods in the SINS/GPS integrated navigation system.

 CLC: V249

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HU Miao-miao, JING Zhong-liang, DONG Peng, ZHOU Gui-rong, ZHENG Zhi-ming. Variational Bayesian filtering based on Student-t distribution for SINS/GPS integrated navigation. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2018, 52(8): 1482-1488.

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