A Novel Anti-Jamming Technique for INS/GNSS Integration Based on Black Box Variational Inference

In this paper, a novel anti-jamming technique based on black box variational inference for INS/GNSS integration with time-varying measurement noise covariance matrices is presented. We proved that the more similar to Gaussian distribution mean value than Inv-Gamma or Inv-Wishart found by Kullback–Leibler divergence. Therefore, we assumed prior of as Gaussian, and calculated parameters method. Finally, obtained using parameters. The experimental results illustrate proposed algorithm performs better in resisting existing Variational Bayesian adaptive filter.