关键词: BDS, INS, 双重自适应滤波, IGGⅢ抗差估计, Sage-Husa自适应滤波

Abstract: Subject to severe satellite signal occlusion in environments such as urban canyons and mountainous areas,the positioning accuracy and reliability of UAV power inspection systems face significant challenges.To address the degradation in filtering precision caused by observation gross error interference and inaccurate modeling of noise statistical characteristics within the BDS (BeiDou Navigation Satellite System) +INS(inertial navigation system) integrated navigation system,a dual adaptive filtering-based integrated navigation method is proposed,building upon the traditional loosely-coupled BDS+INS integration algorithm.By integrating the IGGⅢ robust estimation technique with the Sage-Husa adaptive filtering algorithm,this approach effectively suppresses pose errors caused by observation anomalies resulting from multipath effects and signal blockage.Experimental results demonstrate that the proposed method improves BDS standalone positioning accuracy by approximately 77%.Regarding BDS+INS integrated navigation performance,positioning accuracy and attitude estimation accuracy are improved by approximately 55%and 54%,respectively,compared to traditional algorithms.

Key words: BDS, INS, dual adaptive filtering, IGGⅢ robust estimation, Sage-Husa adaptive filtering