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GPS-INS outlier detection & elimination using a sliding window filter
2017
2017 American Control Conference (ACC)
Many applications require reliable, high precision navigation (sub-meter accuracy) while using low-cost inertial and global navigation satellite systems (GNSS). Success requires optimal state estimate while mitigating measurement outliers. Common implementations use an Extended Kalman Filter (EKF) combined with the Receiver Autonomous Integrity Monitoring (RAIM) on a single epoch. However, if the linearization point of the EKF is incorrect or if the number of residuals is too low, outlier
doi:10.23919/acc.2017.7963123
dblp:conf/amcc/RoysdonF17
fatcat:uh3qhfcmkbcrhfxx42omijohzy