An M-Estimation-Based Improved Interacting Multiple Model for INS/DVL Navigation Method

This paper presents an M-estimation-based Improved Interacting Multiple Model (IIMM) algorithm for inertial navigation system (INS)/Doppler velocity logs (D VL) integrated method to directly apply in complex underwater environment without empirical parameters. Considering the time-varying measurement noise covariance, a variable model structure based on Bayesian estimation law is proposed to adapt to the environment and an adaptive state transition probability matrix is generated to promote the model adaption. Meanwhile, M-estimation-based filter is employed as primary model to save IIMM from the effect of outliers. The performance of the IIMM algorithm is evaluated on simulation, land vehicle, and Yangtze River test, where the state-of-the-art is compared adequately. The robustness simulation test is also performed. It is highlighted that IIMM approach can adapt to actual model rapidly and can resist outliers efficiently. The proposed IIMM method can improve the accuracy and robustness of the navigation system in a severe and unknown environment without increasing the computational load.