SH-STF: A novel adaptive filter and its application in SINS/GPS/DVS integrated navigation

This paper is concerned with adaptive filter and its application in SINS/GPS/DVS integrated navigation. A novel adaptive filter, namely, SH-STF, is presented by combining the Sage-Husa (SH) adaptive filter with the strong tracking filter (STF). For multirate sampling dynamic system and in consideration of observations randomly missing, SH-STF is applied to data fusion and SINS/GPS/DVS integrated navigation. Simulation results show the feasibility and effectiveness of the presented algorithm.