Abstract
The research progress of the hybrid GNSS-terrestrial localization and its mathematical model are introduced first. The problem of filter divergence applying the augmented unscented Kalman filter to realize the GNSS-terrestrial localization is analyzed. In order to prevent the filter divergence, a cycle reset mechanism for the state estimate variance matrix is adopted during the joint state estimation. The simulation results show that the proposed method could make the filter working steadily meanwhile improve the positioning accuracy.
This work was supported by National Natural Science Foundation of China (91438207).
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Li, Dp., Liu, B., Qu, Y., Liu, T., Zeng, Lc., Gong, Yk. (2016). The Hybrid GNSS-Terrestrial Localization Method Based on the Augmented UKF. In: Sun, J., Liu, J., Fan, S., Wang, F. (eds) China Satellite Navigation Conference (CSNC) 2016 Proceedings: Volume II. Lecture Notes in Electrical Engineering, vol 389. Springer, Singapore. https://doi.org/10.1007/978-981-10-0937-2_42
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DOI: https://doi.org/10.1007/978-981-10-0937-2_42
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