An Adaptive Outlier Algorithm Based on Kalman Filtering for Beidou Satellite Passive Combination Navigation

In Kalman filtering applications to combination satellite navigation the observation values including outliers are important effect on optimal filtering.The outliers affect the position filtering accuracy and make estimation inaccurate. In this paper,an outlier decision based on adaptive robust Kalman filtering is presented,which can keep orthogonal properties of innovation sequence.Simulation results show that the modified algorithms are effectively resistant to outliers in sampling date.