Robust Nonlinear Filtering Applied to Integrated Navigation System INS/GNSS under Non Gaussian Measurement noise effect

In this paper, robust design of INS/GNSS navigation system is proposed for solving problem of state space models with non Gaussian measurement noise based on parallel non linear filtering. GNSS in this paper is assumed a combination of GPS and GLONASS signals in order to improve and increase accuracy of satellite positioning. Non linear approximation techniques such as Extended Kalman Filter (EKF), Sigma Point Kalman Filter (SPKF) are adapted. Robust navigation system is designed and efficiently estimates state vector of navigation. Three parallel algorithms are simulated and compared through RMSE criteria under several conditions.