An adaptive integrated navigation system, consisting of barometric altimeter (Baro) and GPS, is presented. The integration is achieved by using an adaptive data fusion algorithm with the filter gain correction. Proposed adaptive data fusion algorithm utilizes the measurement noise scale factor in order to reduce the effects of the incorrect barometric altimeter measurements on the estimation procedure. By using the algorithm, incorrect baro measurements are corrected by the system without any impact on the good estimation behavior. Performance of the proposed Baro/GPS integrated system is examined by simulations for altitude estimation of an aircraft.

中文翻译：

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通过自适应数据融合算法集成气压计和GPS高度计

提出了一种自适应集成导航系统，该系统由气压高度计（Baro）和GPS组成。通过使用带有滤波器增益校正的自适应数据融合算法来实现集成。所提出的自适应数据融合算法利用测量噪声比例因子以减少不正确的气压高度计测量对估计程序的影响。通过使用该算法，系统会纠正不正确的baro测量，而不会影响良好的估算行为。拟议的Baro / GPS集成系统的性能通过飞机高度估计的仿真进行了检验。