SINS/GPS tightly-coupled integration navigation is based on nonlinear Kalman filtering algorithm. Aiming at solving the problems of non-Gaussian and high-order information loss and low filtering accuracy in it, a new SINS/GPS tightly-coupled integration navigation method based on quadrature point updating cubature Kalman filter is proposed. Pseudo-range information are used to participate in filtering in the nonlinear measurement model. Taking the correction effect of measurement quadrature points on the state quadrature point into account, the state update equation is established to directly update the state quadrature point, so as to build the whole SINS/GPS tightly-coupled integration navigation process. Taking the surface ship as the simulation object, the method we put forward is applied to the ship simulation model. The navigation results clearly indicate that in the SINS/GPS tightly-coupled integration navigation problem under the non-linear measurement model, the filtering accuracy of this method we put forward is brilliant compared to that of the traditional non-linear filtering algorithm including the extended Kalman filter and the cubature Kalman filter, especially, it has better estimation accuracy for velocity parameters and north position parameters. The feasibility and validity of the method are verified.


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    Title :

    SINS/GPS Tightly-Coupled Integration Navigation Method Based on Quadrature Point Updating Cubature Kalman Filter


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Ran, Peizhi (author) / Chao, Tao (author) / Yang, Ming (author)


    Publication date :

    2021-10-30


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English