Robust Phased Array Navigation in Reflective Prone Areas

Navigation with a Phased Array Radio System (PARS) is prone to performance degradation due to radio wave reflections of the directed communication beam on reflective surfaces. This work presents a navigation algorithm, based on the Error State Kalman Filter (ESKF) and an outlier rejection scheme, to better handle such outliers, and thus improve navigation robustness. We show, with experimental data, that this algorithm results in an improved state estimation quality when radio beam reflections are present.