Strong tracking cubature Kalman filter algorithm for GPS/INS Integrated Navigation System

摘要

The GPS/INS Integrated Navigation System is nonlinear in nature. To deal with the accuracy of GPS/INS navigation under nonlinear, strong tracking cubature Kalman flter (STCKF) is applied to the system. The heart of the CKF is a cubature rule, which makes it possible to numerically compute multivariate moment integrals encountered in the nonlinear Bayesian filter. STCKF is presented for simulation. Simulation results show the superior performance of this approach when compared with clasaical suboptimal techniques such as extended Kalman filter (EKF). The results of simulation demonstrate the improved performance of the STCKF over conventional nonlinear filters. The research provides theoretical support for engineering design and modification. STCKF has the advantages of high reliability, low sensitivity, strong robustness, strong stability and convergence.