- 期刊
GPS/INS Fusion Algorithm Based on Variational Bayesian Adaptive Kalman Filter
摘要
In order to resolve the problem of performance degradation caused by the outliers in the traditional filtering methods, a variational Bayesian Kalman Filter (VBKF) algorithm was proposed for SINS/GPS integrated navigation model. Using a probabilistic approach,a concrete derivation is given to represent how variational Bayesian learning works in a recursive way to approximate the true posterior of the noise together with the states. 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.
參考文獻
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