Nonlinear robust adaptively SDRE filtering method for SINS/SAR integrated Navigation System

The robust adaptive filtering method based on the State Dependent Riccati Equation technique for SINS/SAR integrated navigation system. This method adopts the state dependent coefficient form to convert nonlinear system model into linear system for avoiding the errors caused by the traditional numerical linearization process. It also adopts the concepts of robust estimation and adaptive factor to construct reasonably the discriminate statistics and adaptive factor for resisting the disturbances of singular observations and kinematic model error. Experimental results and comparison analysis demonstrate that the proposed filtering method can not only effectively resist disturbances from nonlinear system state noise and observation noise, but it also can achieve higher accuracy than the extended kalman filtering and SDRE filtering methods.