Improved Outdoor Localization Based on Weighted Kullback-Leibler Divergence for Measurements Diagnosis

Global Navigation Satellite System (GNSS) is growing in usefulness for navigation in outdoor environment. However, the measurements from the satellites (pseudorange, Doppler) could be obscured or degraded due to different phenomena such as the multipath and interference. Therefore, in order to ensure the continuity and the integrity of localization, the fusion of these measurements with proprioceptive data is necessary. Adding also, the erroneous measurements should be detected and excluded from the fusion procedure.