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中文摘要：
在GPS／INS松散组合滤波中，首先利用新息辨别异常的观测量，然后根据选权滤波的思想，通过调节滤波器中观测噪声方差阵改变系统对相应观测信息的信赖度。实验结果表明，改进的滤波算法不仅提高了滤波精度，而且较好地控制了异常点的误差影响。
英文摘要：
In GPS/INS integration algorithm, the effect of observation error on the integrated system should not be ignored, since the solution of GPS is not always precise enough. A new method is proposed that the measurement noise covariance matrix is adapted to improve the GPS/INS integration algorithm, based on the innovation sequence and the selected weight filtering. The experimental result shows that the abnormal errors are conspicuously controlled as well as the filtering precision of the parameters is improved.
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