Performance Assessment of Smartphone Tightly Coupled PPP/INS Integration with an Adaptive Robust Kalman Filter
Hongyu Zhu, Haiping Xiao, Zhiqiang Li, Xinqian Guan, Jianfan Lai · 2026
Read Performance Assessment of Smartphone Tightly Coupled PPP/INS Integration with an Adaptive Robust Kalman Filter by Hongyu Zhu, Haiping Xiao, Zhiqiang Li, Xinqian Guan, Jianfan Lai (2026) in the Tower of Babel, a free online library of public-domain works preserved in clean, searchable text. No sign-up. The full text is served as a plain-text file at a predictable URL, where text is present: https://antarctic-labs.com/tower-of-babel/pmc-13568023.txt.
Description
Zhu, Xiao, Li, Guan, and Lai assess smartphone positioning that couples satellite and inertial data, in a 2026 paper. City streets block satellite signals and create strong multipath errors. Their method tightly couples precise point positioning with an inertial navigation system.
An adaptive robust Kalman filter handles outliers and model errors. Its weights react to vehicle motion and signal geometry. Vehicle tests used a phone chipset and an external inertial unit. In tunnel and dense urban runs, the new filter cut horizontal error by about a third versus a standard filter. Loose and tight coupling each improved on satellite-only results. The work targets better phone navigation in hard settings.
Catalog record
| CREATOR | Hongyu Zhu, Haiping Xiao, Zhiqiang Li, Xinqian Guan, Jianfan Lai |
|---|---|
| YEAR | 2026 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 52 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |