A novel anti-interference robust federated filter for multisensor navigation system of unmanned aerial vehicles

In order to address the challenges related to inaccurate unmanned aerial vehicles positioning amidst battlefield interference environment, a new robust filtering algorithm is proposed in this paper. The INS-GPS-Tacan-Terrain multisensor integrated navigation system is taken as the study object and applied to federated filter. Firstly, the dynamics and observation model of multisensor integrated navigation system are introduced. Then the deficiency of the federated filter is pointed out, and a new anti-interference robust algorithm is proposed. Finally, the algorithm effectiveness is verified by a simulation. The results show that compared with the traditional federated filter, the proposed filter can effectively resist outliers interference, and improve the positioning accuracy of unmanned aerial vehicles in battlefield interference conditions.