The Application of the Anti-outlier Unscent Kalman Filter in the Integrated GPS/DR Orientation

Vehicle orientation is one of the important technologies in intelligent transportation system and integrated GPS/DR orientation can provide location data of high precision and reliability through data fusion. Hence, at present, the integrated GPS/DR orientation system has been the focus of research at home and abroad. The present paper is on the basis of setting up the Integrated GPS/DR Orientation system model with the Unscent Kalman filter theory. For the common problem of outlier in the process of filtering, the present paper analyses the characteristic and influencing mechanism of the outlier and proposes the solution to dissolve the outlier with the corrected new information based on the M Estimation. The simulation results show that the solution proposed can effectively eliminate the negative effect of the outlier on the filter and can consequently increase the precision of the Integrated GPS/DR Orientation.