Research on non-linear fault-tolerant filtering for GPS/DR integrated navigation system
Pei Dong, Qin Daguo · 2016
For the mutated fault and the shading fault, EKF fault-tolerant filtering based on first order Markov process for acceleration, Federal fault-tolerant filtering based on current statistic model and particle fault-tolerant filtering based on AR model for Gyro error were compared. Through analysis in detail via experimentation, EKF fault-tolerant filtering has a stable performance; the filtering accuracy of federal fault-tolerant filtering is small when on the straight path, but large when on the detour; fault-tolerant particle filter has excellent performance in the case of GPS outage for short time.