Performance analysis of improved iterated cubature Kalman filter and its application to GNSS/INS

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• 作者：Bingbo Cui^a ; ^b ; Xiyuan Chen^a ; ^b ; ^{chxiyuan@seu.edu.cn} ; Yuan Xu^c ; Haoqian Huang^a ; ^b ; Xiao Liu^a ; ^b
• 关键词：Integrate navigation ; Iterated Gaussian filter ; Cubature Kalman filter ; Adaptive filter
• 刊名：ISA Transactions
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：66
• 期：Complete
• 页码：460-468
• 全文大小：1463 K
• 卷排序：66

文摘

An improved framework of iterated Gaussian filter for integrate navigation is derived. Iterated measurement update with state-dependent noise is analyzed. The effect of different nonlinearities in the filtering of GNSS/INS is studied separately. Field test and numerical experiment are employed to verify proposed filter.