A seventh-degree cubature quadrature Kalman filter

In the Gaussian filter frame, the higher the order, the higher the accuracy of the approximation. To improve the filtering accuracy, a seventh-degree Cubature Quadrature Kalman Filter (CQKF) algorithm is proposed by improving the degree. Based on the traditional CQKF, the algorithm extends the approximate degree of linear integrals, and proposes a deterministic sampling method for the seven-degree spherical integral. Then the spherical-radial rule is extended to improve the accuracy of the filter. The simulation results of the aircraft target tracking demonstrate the effectiveness of the algorithm. It is proved that the seventh-degree CQKF is more accurate than the fifth-CQKF, third-degree Cubature Kalman Filter (CKF) and Unscented Kalman Filter (UKF).