Robust state and protection-level estimation within tightly coupled GNSS/INS navigation system

In autonomous applications for mobility and transport, a high-rate highly accurate vehicle-state estimation is achieved by fusing measurements of global navigation satellite systems (GNSS) inertial sensors. The state its protection-level generation often suffer from satellite-signal disturbances in urban environments subsequent poor parametrization the observables. Thus, we propose an innovative scheme involving extended H_infinity filter (EHF) robust zonotope generation. This shown as part tightly coupled system based on aided GPS/Galileo dual-constellation system. Specifically, GNSS pseudorange deltarange observables are utilized. experimental results post-processing real-world dataset show significant advantages EHF against conventional Kalman regarding accuracy robustness under various GNSS-measurement parametrizations environmental circumstances. zonotope-based calculation proven valid, computationally affordable, feasible real-time implementations.