A Seventh-Degree Cubature Kalman Filter

The fifth-degree cubature Kalman filter (CKF) has been proved to be a kind of algorithm that has higher precision than the third-degree CKF and unscented Kalman filter (UKF). In order to further improve the performance of CKF, the seventh-degree CKF is proposed in this paper by expanding the spherical-radial rule, and a new kind of deterministic sampling method is derived based on the seventh-degree cubature rule. Through the comparison in target tracking simulation, the seventh-degree CKF methods are shown to be able to enhance filtering precision compared to the fifth-degree CKF, the third-degree CKF and the UKF filter.