TY - GEN
T1 - The application of Square-Root Cubature Kalman Filter in the SINS/CNS integrated navigation system
AU - Zhang, Dongyang
AU - Deng, Zhihong
AU - Wang, Bo
AU - Fu, Mengyin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - The integrated navigation system can improve the navigation accuracy utilizing the redundant information. The Extended Kalman Filter (EKF) is commonly used in the integrated navigation system. It usually takes only one-order of Taylor expansion and needs to calculate the Jacobian matrix, which will affect the accuracy and numerical stability of the system significantly. Thus in this paper the application of Square-Root Cubature Kalman Filter(SCKF) method was proposed to solve the above problems in the SINS/CNS integrated navigation system. The simulation results show that the position, velocity and attitude errors are reduced effectively compared with the EKF method. The SCKF method is more suitable for the state estimation problems in integrated navigation system.
AB - The integrated navigation system can improve the navigation accuracy utilizing the redundant information. The Extended Kalman Filter (EKF) is commonly used in the integrated navigation system. It usually takes only one-order of Taylor expansion and needs to calculate the Jacobian matrix, which will affect the accuracy and numerical stability of the system significantly. Thus in this paper the application of Square-Root Cubature Kalman Filter(SCKF) method was proposed to solve the above problems in the SINS/CNS integrated navigation system. The simulation results show that the position, velocity and attitude errors are reduced effectively compared with the EKF method. The SCKF method is more suitable for the state estimation problems in integrated navigation system.
UR - http://www.scopus.com/inward/record.url?scp=85015191015&partnerID=8YFLogxK
U2 - 10.1109/CGNCC.2016.7829155
DO - 10.1109/CGNCC.2016.7829155
M3 - Conference contribution
AN - SCOPUS:85015191015
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 2331
EP - 2335
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -