中文摘要：

针对组合导航中经常出现的卫星信号野值和滤波精度不高的问题，提出了利用Sage-Husa和新息正交性来消除卫星信号野值及抑制滤波器的发散，从而提高导航的精度和稳定性。首先，用改进的新息Sage-Husa卡尔曼滤波器对组合导航系统的测量信号进行滤波处理，其次，引入抗野值判断函数对测量信号进行判断，剔除卫星信号测量过程中的野值。通过跑车试验将新息Sage-Husa滤波与经典的卡尔曼滤波和Sage-Husa滤波的效果进行对比，结果表明改进的滤波算法能够有效地去除卫星野值、提高导航精度。

英文摘要：

According to the problem of satellite signal outliers and filtering inaccuracy in integrated navigation area,this paper proposes usage of Sage-Husa filtering and innovation orthogonal to eliminate the impact of outliers and suppress filter divergence. Firstly,integrated navigation system measurement signal is filtered with innovation Sage-Husa Kalman filter. Secondly,an anti-outliers function is used to judge measured signal, excluding satellite signal measurement signal outliers. Contrasted innovation Sage- Husa filter car test result with classic Kalman filter and Sage-Husa filter,the results show that improved Sage-Husa filter can eliminate satellite signal measurement outliers-and improve navigation accuracy.