Application of Modified Strong Tracking Filter in GPS/INS Integrated Navigation System

Enhancing the noise intensity is the rife method for compensating the errors of velocity caused by lever arm distortion. But the academic statistical characteristic of measurement noise is different from actual noise. So this paper proposes a new method to compensate errors of velocity. The new method is that static velocity errors caused by the lever arm distortion are compensated in the measurement equations and dynamic errors are added into the measurement noise. The statistical characteristic of new measurement noise is not constant and it changes in real-time. At the same time this paper proposes modified strong tracking filter, it is suitable for upon environment. The new algorithm can track and estimate the statistical characteristic of new measurement noise in real-time. The results of simulation experiment show the modified strong tracking algorithm can improve the navigation precision, which is an effective and practical method.