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Author

Lu-Gao Yin

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Conference Open access Sep 2026

Robust GNSS/INS navigation using dynamic kernel weighting under abnormal observations

This work addresses robust GNSS/INS navigation in the presence of abnormal observations. To mitigate the impact of GNSS outliers and time-varying measurement disturbances, an innovation residual-driven dynamic kernel weighting scheme is incorporated into the error-state extended Kalman filter. Several robust kernels (L...

Bo-Yu Zhang, Kun Lan, Lu-Gao Yin et al. · 0 citations

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