A robust position estimation algorithm for low-cost INS/GPS integrated navigation system

When global navigation satellite system (GNSS) is interfered by electronic jamming or obstacles around, there may be outliers in GNSS measured values which will reduce the accuracy of the position estimation and degrade the flight control quality. In order to solve this problem, a robust position estimation algorithm with the ability of restraining the interference of outliers is proposed in this paper. The conception of variation of the observation is introduced in this paper to be the judgment of the outliers´ identification. Meanwhile, the weight factors based on the variation of the observation is introduced to adjust the weight of the abnormal observations in real time. The proposed method is proved by simulations and experimental studies. The results show that this method can provide a stable and reliable position information and improve the flight control quality.