NDLI: An Improved Strong Tracking Cubature Kalman Filter for GPS/INS Integrated Navigation Systems

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An Improved Strong Tracking Cubature Kalman Filter for GPS/INS Integrated Navigation Systems

Content Provider	Directory of Open Access Journals (DOAJ)
Author	Kaiqiang Feng Jie Li Xi Zhang Xiaoming Zhang Chong Shen Huiliang Cao Yanyu Yang Jun Liu
Abstract	The cubature Kalman filter (CKF) is widely used in the application of GPS/INS integrated navigation systems. However, its performance may decline in accuracy and even diverge in the presence of process uncertainties. To solve the problem, a new algorithm named improved strong tracking seventh-degree spherical simplex-radial cubature Kalman filter (IST-7thSSRCKF) is proposed in this paper. In the proposed algorithm, the effect of process uncertainty is mitigated by using the improved strong tracking Kalman filter technique, in which the hypothesis testing method is adopted to identify the process uncertainty and the prior state estimate covariance in the CKF is further modified online according to the change in vehicle dynamics. In addition, a new seventh-degree spherical simplex-radial rule is employed to further improve the estimation accuracy of the strong tracking cubature Kalman filter. In this way, the proposed comprehensive algorithm integrates the advantage of 7thSSRCKF’s high accuracy and strong tracking filter’s strong robustness against process uncertainties. The GPS/INS integrated navigation problem with significant dynamic model errors is utilized to validate the performance of proposed IST-7thSSRCKF. Results demonstrate that the improved strong tracking cubature Kalman filter can achieve higher accuracy than the existing CKF and ST-CKF, and is more robust for the GPS/INS integrated navigation system.
e-ISSN	14248220
DOI	10.3390/s18061919
Journal	Sensors
Issue Number	6
Volume Number	18
Language	English
Publisher	MDPI AG
Publisher Date	2018-06-01
Publisher Place	Switzerland
Access Restriction	Open
Subject Keyword	Chemical Technology Gps/ins Integrated Navigation Cubature Kalman Filter Strong Tracking Filter Spherical Simplex-radial Rule
Content Type	Text
Resource Type	Article

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