Robust adaptive filtering method for SINS/SAR integrated navigation system

This paper presents a new robust adaptive ?ltering method for SINS/SAR (Strap-down Inertial Navigation System/Synthetic Aperture Radar) integrated navigation system. This method adopts the principle of robust estimation to adaptive ?ltering of observational data. A robust adaptive ?lter is developed to adaptively determine the covariance matrix of observation noise, and adaptively adjust the covariance matrix of system state noise according to the adaptive factor constructed based on predicted residuals. Experimental results and comparison analysis demonstrate that the proposed method cannot only effectively resist disturbances due to system state noise and observation noise, but it can also achieve higher accuracy than the adaptive Kalman filtering method.