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Sage-Husa Adaptive Filtering Algorithm for GNSS/SINS Integrated Navigation Based on Double Regulatory Factors
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Xueyuan LIN1, Weiwei SUN2, *, Xiaofan SUN1
Journal of Geodesy and Geodynamics | 2025, 45(7) : 699 - 704
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Journal of Geodesy and Geodynamics | 2025, 45(7): 699-704
Sage-Husa Adaptive Filtering Algorithm for GNSS/SINS Integrated Navigation Based on Double Regulatory Factors
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Xueyuan LIN1, Weiwei SUN2, *, Xiaofan SUN1
Affiliations
  • 1 School of Artificial Intelligence, Shandong Vocational University of Foreign Affairs, 788 Changjiang Road, Weihai 264504, China
  • 2 Naval Aeronautical University, Yantai 264001, China

    • LIN Xueyuan, PhD, professor, majors in integrated navigation and its information fusion, E-mail:

About Author:

LIN Xueyuan, PhD, professor, majors in integrated navigation and its information fusion, E-mail:

Published: 2025-07-15 doi: 10.14075/j.jgg.2024.08.391
Outline
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When the measurement noise variance changes in GNSS/SINS integrated navigation system, the estimation function of measurement noise variance and the fault detection function may conflict with each other in Sage-Husa adaptive filtering algorithm. In order to solve this problem, firstly, we design a control factor according to the fault detection function to adjust the estimation model of measurement noise variance of Sage-Husa adaptive filtering algorithm online. Then, according to the characteristics that Sage-Husa adaptive filtering algorithm relies heavily on forgetting factor, a dynamic forgetting factor is designed to accurately track the measurement noise variance, and a Sage-Husa adaptive Kalman filtering algorithm based on double regulatory factors(DRSHAKF) is proposed. Finally, the simulation experiment of integrated navigation system is carried out based on Sage-Husa adaptive Kalman filtering (SHAKF) algorithm with fault tolerance function and DRSHAKF algorithm. The results show that, compared with SHAKF algorithm, DRSHAKF algorithm can organically integrate measurement noise variance estimation function and fault detection function, make full use of useful measurement information, and improve the filtering accuracy.

Sage-Husa algorithm  /  adaptive filtering algorithm  /  integrated navigation system  /  forgetting factor  /  control factor
林雪原, 孙炜玮, 孙晓范. 基于双调节因子的GNSS/SINS组合导航Sage-Husa自适应滤波算法. 大地测量与地球动力学, 2025 , 45 (7) : 699 -704 . DOI: 10.14075/j.jgg.2024.08.391
Xueyuan LIN, Weiwei SUN, Xiaofan SUN. Sage-Husa Adaptive Filtering Algorithm for GNSS/SINS Integrated Navigation Based on Double Regulatory Factors[J]. Journal of Geodesy and Geodynamics, 2025 , 45 (7) : 699 -704 . DOI: 10.14075/j.jgg.2024.08.391
Funding
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  • National Natural Science Foundation of China(62076249)
  • Natural Science Foundation of Shandong Province(ZR2020MF154)
Appendix
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Year 2025 volume 45 Issue 7
33
14
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Article Info
doi: 10.14075/j.jgg.2024.08.391
  • Receive Date：2024-08-15
  • Online Date：2026-10-29
  • Published：2025-07-15
Article Data
Affiliations
History
  • Received：2024-08-15
Funding
National Natural Science Foundation of China(62076249)
Natural Science Foundation of Shandong Province(ZR2020MF154)
Affiliations
    1 School of Artificial Intelligence, Shandong Vocational University of Foreign Affairs, 788 Changjiang Road, Weihai 264504, China
    2 Naval Aeronautical University, Yantai 264001, China
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