{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,20]],"date-time":"2025-11-20T13:13:12Z","timestamp":1763644392008,"version":"build-2065373602"},"reference-count":29,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2024,9,3]],"date-time":"2024-09-03T00:00:00Z","timestamp":1725321600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Science and Technology Project of Henan Province","award":["242102320315","YYJC062022013","U22A20569"],"award-info":[{"award-number":["242102320315","YYJC062022013","U22A20569"]}]},{"name":"Pre-research Project of Songshan Laboratory","award":["242102320315","YYJC062022013","U22A20569"],"award-info":[{"award-number":["242102320315","YYJC062022013","U22A20569"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["242102320315","YYJC062022013","U22A20569"],"award-info":[{"award-number":["242102320315","YYJC062022013","U22A20569"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>The standard Kalman filter and most of its enhancements are typically designed based on the criterion that minimizes the mean squared error, with little discussion of multiple criteria in the positioning and navigation fields. Therefore, a novel data fusion method that takes into account weighted multiple criteria is proposed in this paper, implementing a filtering algorithm based on integrated criteria with different weights determined by a weight adjustment factor. The proposed algorithm and conventional filtering algorithms were utilized for data fusion in GNSS\/INS integration. Experiments were conducted using actual data collected from an urban environment. Comparative analysis revealed that, when utilizing the proposed algorithm, the precision of the position, velocity, and attitude of the tested land vehicle could be improved by approximately 24%, 48%, and 35%, respectively. Furthermore, a series of filtering algorithms with different weight adjustment factors was performed to test their influence on the filtering. The application of the proposed algorithm should be accompanied by an appropriate weight adjustment factor.<\/jats:p>","DOI":"10.3390\/rs16173275","type":"journal-article","created":{"date-parts":[[2024,9,3]],"date-time":"2024-09-03T12:22:33Z","timestamp":1725366153000},"page":"3275","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A New Data Fusion Method for GNSS\/INS Integration Based on Weighted Multiple Criteria"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2831-4365","authenticated-orcid":false,"given":"Chen","family":"Jiang","sequence":"first","affiliation":[{"name":"College of Surveying and Geo-Informatics, North China University of Water Resources and Electric Power, Zhengzhou 450046, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8050-3991","authenticated-orcid":false,"given":"Qiuzhao","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Environment Science and Spatial Information, China University of Mining and Technology, Xuzhou 221116, China"}]},{"given":"Dongbao","family":"Zhao","sequence":"additional","affiliation":[{"name":"College of Surveying and Geo-Informatics, North China University of Water Resources and Electric Power, Zhengzhou 450046, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,9,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"351","DOI":"10.1007\/s00190-012-0605-0","article-title":"Fast error analysis of continuous GNSS observations with missing data","volume":"87","author":"Bos","year":"2013","journal-title":"J. Geod."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Tang, C., Shi, H., and Zhang, L. (2024). Geomagnetic matching cooperative positioning method for unmanned boat cluster based on factor graph. Ocean Eng., 296.","DOI":"10.1016\/j.oceaneng.2024.116901"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Yu, Z., Zhang, Q., Zhang, S., Zheng, N., and Liu, K. (2023). A state-domain robust autonomous integrity monitoring with an extrapolation method for single receiver positioning in the presence of slowly growing fault. Satell. Navig., 4.","DOI":"10.1186\/s43020-023-00108-3"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1007\/s10291-006-0050-8","article-title":"GPS\/MEMS INS integrated system for navigation in urban areas","volume":"11","author":"Godha","year":"2007","journal-title":"GPS Solut."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"2975","DOI":"10.1109\/TSP.2017.2679685","article-title":"Improved cubature Kalman filter for GNSS\/INS based on transformation of posterior sigma-points error","volume":"65","author":"Cui","year":"2017","journal-title":"IEEE Trans. Signal Process."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"6365","DOI":"10.1109\/TVT.2019.2916852","article-title":"A fault-tolerant tightly coupled GNSS\/INS\/OVS integration vehicle navigation system based on an FDP algorithm","volume":"68","author":"Jiang","year":"2019","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s10291-021-01173-4","article-title":"Combining TWSTFT and GPS PPP using a Kalman filter","volume":"25","author":"Wang","year":"2021","journal-title":"GPS Solut."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s10291-022-01234-2","article-title":"Kalman-filter-based integrity evaluation considering fault duration: Application to GNSS-based attitude determination","volume":"26","author":"Kim","year":"2022","journal-title":"GPS Solut."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Markovi\u0107, L., Kova\u010d, M., Milijas, R., Car, M., and Bogdan, S. (2022, January 21\u201324). Error state extended Kalman filter multi-sensor fusion for unmanned aerial vehicle localization in GPS and magnetometer denied indoor environments. Proceedings of the 2022 International Conference on Unmanned Aircraft Systems (ICUAS), Dubrovnik, Croatia.","DOI":"10.1109\/ICUAS54217.2022.9836124"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Impraimakis, M., and Smyth, A.W. (2022). An unscented Kalman filter method for real time input-parameter-state estimation. Mech. Syst. Signal Process., 162.","DOI":"10.1016\/j.ymssp.2021.108026"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1254","DOI":"10.1109\/TAC.2009.2019800","article-title":"Cubature kalman filters","volume":"54","author":"Arasaratnam","year":"2009","journal-title":"IEEE Trans. Autom. Control."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Arasaratnam, I., Haykin, S., and Hurd, T.R. (2010). Cubature Kalman filtering for continuous-discrete systems: Theory and simulations. IEEE Trans. Signal Process., 4977\u20134993.","DOI":"10.1109\/TSP.2010.2056923"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1016\/j.sigpro.2015.07.014","article-title":"Performance evaluation of cubature Kalman filter in a GPS\/IMU tightly-coupled navigation system","volume":"119","author":"Zhao","year":"2016","journal-title":"Signal Process."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"391","DOI":"10.1007\/s00190-013-0690-8","article-title":"Robust Kalman filtering based on Mahalanobis distance as outlier judging criterion","volume":"88","author":"Chang","year":"2014","journal-title":"J. Geod."},{"key":"ref_15","unstructured":"Yang, Y. (2006). Adaptive Navigation and Kinematic Positioning, Surveying and Mapping Press."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1007\/s001900050236","article-title":"Adaptive Kalman filtering for INS\/GPS","volume":"73","author":"Mohamed","year":"1999","journal-title":"J. Geod."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1017\/S0373463319000511","article-title":"Micro aerial vehicle navigation with visual-inertial integration aided by structured light","volume":"73","author":"Wang","year":"2020","journal-title":"J. Navig."},{"key":"ref_18","first-page":"210","article-title":"An optimal adaptive algorithm for fading Kalman filter and its application","volume":"16","author":"Xia","year":"1990","journal-title":"Acta Autom. Sin."},{"key":"ref_19","first-page":"9","article-title":"Main progress of adaptively robust filter with applications in navigation","volume":"1","author":"Yang","year":"2013","journal-title":"J. Navig. Position"},{"key":"ref_20","first-page":"5355","article-title":"A two stage mean and iterative median filter approach for image denoising","volume":"29","author":"Almas","year":"2020","journal-title":"Int. J. Adv. Sci. Technol."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"146","DOI":"10.1007\/s00190-005-0454-1","article-title":"Sign-constrained robust least squares, subjective breakdown point and the effect of weights of observations on robustness","volume":"79","author":"Xu","year":"2005","journal-title":"J. Geod."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"3367","DOI":"10.1109\/JSEN.2014.2384492","article-title":"Huber\u2019s M-estimation-based process uncertainty robust filter for integrated INS\/GPS","volume":"15","author":"Chang","year":"2015","journal-title":"IEEE Sens. J."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1142\/S2301385020500041","article-title":"A nonlinear H-infinity control approach for autonomous truck and trailer systems","volume":"8","author":"Rigatos","year":"2020","journal-title":"Unmanned Syst."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1007\/s001900000157","article-title":"Adaptively robust filtering for kinematic","volume":"75","author":"Yang","year":"2001","journal-title":"J. Geod."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"9091","DOI":"10.3182\/20110828-6-IT-1002.02909","article-title":"Fusion of an extended h\u221e filter and cubature Kalman filter","volume":"44","author":"Chandra","year":"2011","journal-title":"IFAC Proc. Vol."},{"key":"ref_26","first-page":"1","article-title":"Multi-criterion decision making for wireless communication technologies adoption in IoT","volume":"10","author":"Juneja","year":"2021","journal-title":"Int. J. Syst. Dyn. Appl."},{"key":"ref_27","unstructured":"Apkarian, P., Noll, D., and Rondepierre, A. (2009, January 15\u201318). Mixed H2\/H\u221e control via nonsmooth optimization. Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly with 2009 28th Chinese Control Conference, Shanghai, China."},{"key":"ref_28","first-page":"930","article-title":"An improved robust H\u221e multiple fading fault-tolerant filtering algorithm for INS\/GPS integrated navigation","volume":"30","author":"Chen","year":"2009","journal-title":"J. Astronaut."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"549","DOI":"10.1017\/S0373463314000812","article-title":"Singular value decomposition-based robust cubature Kalman filtering for an integrated GPS\/SINS navigation system","volume":"68","author":"Zhang","year":"2015","journal-title":"J. Navig."}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/16\/17\/3275\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T15:48:07Z","timestamp":1760111287000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/16\/17\/3275"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,9,3]]},"references-count":29,"journal-issue":{"issue":"17","published-online":{"date-parts":[[2024,9]]}},"alternative-id":["rs16173275"],"URL":"https:\/\/doi.org\/10.3390\/rs16173275","relation":{},"ISSN":["2072-4292"],"issn-type":[{"type":"electronic","value":"2072-4292"}],"subject":[],"published":{"date-parts":[[2024,9,3]]}}}