A robust Kalman filter improved with IGG (Institute of Geodesy and Geophysics) scheme is proposed and used to resist the harmful effect of gross error from GPS observation in PPP/INS (precise point positioning/inertial navigation system) tightly coupled positioning. A new robust filter factor is constructed as a three-section function to increase the computational efficiency based on the IGG principle. The results of simulation analysis show that the robust Kalman filter with IGG scheme is able to reduce the filter iteration number and increase efficiency. The effectiveness of new robust filter is demonstrated by a real experiment. The results support our conclusion that the improved robust Kalman filter with IGG scheme used in PPP/INS tightly coupled positioning is able to remove the ill effect of gross error in GPS pseudorange observation. It clearly illustrates that the improved robust Kalman filter is very effective, and all simulated gross errors added to GPS pseudorange observation are successfully detected and modified.
A novel in-phase disposition (IPD) SPWM pulse allocation strategy applied to a cascaded H-bridge (CHB) converter is presented in this paper. The reason causing the power of the CHB converter imbalance is analyzed according to the traditional structure, the conception of power imbalance degree is introduced and the principle of the novel in-phase disposition SPWM allocation strategy is deduced in detail. The new pulse allocation scheme can ensure the power balance in 3/4 cycles through interchanging the PWM pulse sequence of the different CHB cell, meanwhile it makes the full advantage of the IPD control strategy, lower the total harmonic distortion (THD) of line voltage compared to a carrier phase shifted (CPS) control strategy, which is verified by theoretical derivation. A seven-level cascaded inverter composed by three H-bridge cells is taken as the exam- ple. The simulation and experiment is performed. The results indicate the validity of the analysis and verify the effectiveness of the proposed SPWM allocation strategy.