Improved anti-outliers Kalman filter based on the latitude and longitude for track data

Due to adverse impact of the track data outliers on the test in real-time target tracking, and the lack of X, Y, Z axis speed, this paper proposes for the first time based on the longitude and latitude to remove outliers. Three correction methods of real-time anti field values are studied: the threshold method, the anti outlier Kalman filtering method, and the improved algorithm of Kalman filter. According to the threshold method to determine the initial value, improved Kalman gain update strategy, by extrapolation and compensation point for outliers, improve the outlier recognition rate to accurately real-time grasp the target information. The simulation test and flight test show that the method is stable and effective, and it can be used in real-time target tracking etc.