Research Article

Study of Robust Filtering Application in Loosely Coupled INS/GPS System

Table 1

Normal situation STD index.

STD Kalman Robust
PitchRollYawPitchRollYaw

0.11300.13862.47960.01290.01490.035

ā€‰NorthEastUpNorthEastUp

m/s0.02960.0266Nan0.03660.0519Nan
m0.28060.3487Nan0.63510.8284Nan