Improved fifth-degree spherical simplex sadial cubature Kalman filter in SINS/DVL integrated navigation

被引：0
作者：
Xu X.-S. [1 ,2 ]
Dong Y. [1 ,2 ]
Tong J.-W. [1 ,2 ]
Dai W. [1 ,2 ]
机构：
[1] Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing
[2] School of Instrument Science and Engineering, Southeast University, Nanjing
来源：
| 1600年 / Editorial Department of Journal of Chinese Inertial Technology卷 / 25期
关键词：
Cubature Kalman filter; Integrated navigation; Nonlinear system; Spherical simplex radial;
D O I：
10.13695/j.cnki.12-1222/o3.2017.03.012
中图分类号：
学科分类号：
摘要：
In order to improve the accuracy of SINS/DVL integrated navigation system, a SINS/DVL integrated navigation system model is built based on establishing the nonlinear error model of SINS and the error equation of the Doppler velocity log (DVL). To further improve the navigation accuracy, a fifth-degree cubature Kalman filter is applied. In view that conventional fifth-degree cubature Kalman filter has too large computation amount and relative poor robustness, a fifth-degree spherical simplex radial (SSR) cubature Kalman filter is designed, which adopts the SSR rule to change the sampling rule and reduce the number of sampling points. Simulation results show that the proposed method can effectively improve the accuracy of the SINS/DVL integrated navigation system and has better stability. © 2017, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：343 / 348
页数：5
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