The GPS/INS integrated navigation method based on adaptive SSR-SCKF cubature Kalman filter

Zhe Yue, Baowang Lian, Chengkai Tang

科研成果: 书/报告/会议事项章节会议稿件同行评审

6 引用 (Scopus)

摘要

There are many methods aiming at the nonlinear problem of GPS/INS integrated navigation, such as EKF and UKF, however, these methods have low positioning accuracy and instability. On the study of SCKF and nonlinear model of GPS/INS integrated navigation, aiming at the issues that the state equation of GPS/INS is nonlinear while the measured equation is linear, and the measured noise changes owing to the changing number of visible satellites or multipath. Therefore, this paper promotes the integrated method based on adaptive SSR-SCKF, which uses the spherical simple-radial cubature rule (SSRCR) to set the cubature sampling points. We also provide a linear measured update process on the basis of singular value decomposition (SVD), and it avoids choosing the cubature sampling points. Combining the moving window method, it can adjust the covariance matrix of measurement noise in real-time. The experiment results show that the proposed method has lower computational complexity, while higher estimated accuracy, numerical stability and better adaptive ability to the changing noise than SCKF in the same conditions.

源语言英语
主期刊名China Satellite Navigation Conference, CSNC 2017 Proceedings
编辑Jiadong Sun, Wenxian Yu, Jingnan Liu, Yuanxi Yang, Shiwei Fan
出版商Springer Verlag
395-405
页数11
ISBN(印刷版)9789811045905
DOI
出版状态已出版 - 2017
活动8th China Satellite Navigation Conference, CSNC 2017 - Shanghai, 中国
期限: 23 5月 201725 5月 2017

出版系列

姓名Lecture Notes in Electrical Engineering
438
ISSN(印刷版)1876-1100
ISSN(电子版)1876-1119

会议

会议8th China Satellite Navigation Conference, CSNC 2017
国家/地区中国
Shanghai
时期23/05/1725/05/17

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