A GPS/INS navigation strategy of dealing with extreme cases by cooperating radar (IEEE CGNCC)

This paper designs a strategy that monitors the system anomaly and uses radar's information to replace the GPS to complete the navigation when anomaly appeared. It can solve system divergence problem that appears when the GPS data is distortional or the GPS is not functional in the GPS/INS navigation system. It uses innovation adjustment method to monitor the anomaly of the Kalman filter then uses radar to replace the GPS. This paper tests this navigation strategy on real-time data, then analyze the influence of precision of radar on the navigation system's precision in an extreme environment. Proves this strategy can keep the system in a good stability and a good navigation precision and has good feasibility.