关键词: 抗差估计, 自适应滤波, 容积卡尔曼滤波, 深耦合, 转发式干扰

Abstract: Repeater jamming transmits authentic satellite signals and results in error in pseudo range, thus making deeply coupled SINS/GPS system resolve incorrectly without being detected. On the basis of characteristic of signal processing in deep integration and treating error in pseudo range as gross error, the Adaptive Robust Square-Root Cubature Kalman Filter（AR-SRCKF） is proposed. The method utilizes adaptive robust filter as the frame of the algorithm to improve system robustness to repeater jamming. Meanwhile, for avoiding filter performance decreasing caused by linearization, the method uses squre-root cubature Kalman filter to solve the non-linear filtering problem and make sure the symmetry and positive semidefinite of the covariance matrix. Finally, simulation and analysis under deep integrated system validates its good robustness to repeater jamming.