{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T16:29:55Z","timestamp":1779380995017,"version":"3.53.1"},"reference-count":16,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2023,9,28]],"date-time":"2023-09-28T00:00:00Z","timestamp":1695859200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52271346"],"award-info":[{"award-number":["52271346"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["20220019059001"],"award-info":[{"award-number":["20220019059001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012130","name":"Aeronautical Science Foundation of China","doi-asserted-by":"publisher","award":["52271346"],"award-info":[{"award-number":["52271346"]}],"id":[{"id":"10.13039\/501100012130","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012130","name":"Aeronautical Science Foundation of China","doi-asserted-by":"publisher","award":["20220019059001"],"award-info":[{"award-number":["20220019059001"]}],"id":[{"id":"10.13039\/501100012130","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, an adaptive and robust Kalman filter algorithm based on the maximum correntropy criterion (MCC) is proposed to solve the problem of integrated navigation accuracy reduction, which is caused by the non-Gaussian noise and time-varying noise of GPS measurement in complex environment. Firstly, the Grubbs criterion was used to remove outliers, which are contained in the GPS measurement. Then, a fixed-length sliding window was used to estimate the decay factor adaptively. Based on the fixed-length sliding window method, the time-varying noises, which are considered in integrated navigation system, are addressed. Moreover, a MCC method is used to suppress the non-Gaussian noises, which are generated with external corruption. Finally, the method, which is proposed in this paper, is verified by the designed simulation and field tests. The results show that the influence of the non-Gaussian noise and time-varying noise of the GPS measurement is detected and isolated by the proposed algorithm, effectively. The navigation accuracy and stability are improved.<\/jats:p>","DOI":"10.3390\/s23198131","type":"journal-article","created":{"date-parts":[[2023,9,28]],"date-time":"2023-09-28T07:50:26Z","timestamp":1695887426000},"page":"8131","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Application of Adaptive Robust Kalman Filter Base on MCC for SINS\/GPS Integrated Navigation"],"prefix":"10.3390","volume":"23","author":[{"given":"Linfeng","family":"Li","sequence":"first","affiliation":[{"name":"School of Integrated Circuits and Electronics, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Beijing Institute of Electronic System Engineering, Beijing 100854, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jian","family":"Wang","sequence":"additional","affiliation":[{"name":"Beijing Institute of Control and Electronic Technology, Beijing 100038, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhiming","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Integrated Circuits and Electronics, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Teng","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Integrated Circuits and Electronics, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,28]]},"reference":[{"key":"ref_1","first-page":"112","article-title":"Application of High Precision GNSS\/INS Smooth Algorithm in the Mobile Mapping Area","volume":"40","author":"Wang","year":"2019","journal-title":"J. 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