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Sensors 2018, 18(6), 1724; https://doi.org/10.3390/s18061724

Maximum Correntropy Unscented Kalman Filter for Ballistic Missile Navigation System based on SINS/CNS Deeply Integrated Mode

1
Department of System Science, College of Liberal Arts and Science, National University of Defense Technology, Fuyuan Road No.1, Changsha 410072, China
2
Beijing Institute of Control Engineering, China Academy of Space Technology, Beijing 100080, China
3
Unit 94, PLA 91550, Dalian 116023, China
*
Author to whom correspondence should be addressed.
Received: 17 April 2018 / Revised: 16 May 2018 / Accepted: 23 May 2018 / Published: 27 May 2018
(This article belongs to the Special Issue Sensor Fusion and Novel Technologies in Positioning and Navigation)
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Abstract

Strap-down inertial navigation system/celestial navigation system (SINS/CNS) integrated navigation is a high precision navigation technique for ballistic missiles. The traditional navigation method has a divergence in the position error. A deeply integrated mode for SINS/CNS navigation system is proposed to improve the navigation accuracy of ballistic missile. The deeply integrated navigation principle is described and the observability of the navigation system is analyzed. The nonlinearity, as well as the large outliers and the Gaussian mixture noises, often exists during the actual navigation process, leading to the divergence phenomenon of the navigation filter. The new nonlinear Kalman filter on the basis of the maximum correntropy theory and unscented transformation, named the maximum correntropy unscented Kalman filter, is deduced, and the computational complexity is analyzed. The unscented transformation is used for restricting the nonlinearity of the system equation, and the maximum correntropy theory is used to deal with the non-Gaussian noises. Finally, numerical simulation illustrates the superiority of the proposed filter compared with the traditional unscented Kalman filter. The comparison results show that the large outliers and the influence of non-Gaussian noises for SINS/CNS deeply integrated navigation is significantly reduced through the proposed filter. View Full-Text
Keywords: unscented Kalman filter; maximum correntropy; SINS/CNS deeply integrated navigation; non-Gaussian noises; ballistic missile unscented Kalman filter; maximum correntropy; SINS/CNS deeply integrated navigation; non-Gaussian noises; ballistic missile
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Hou, B.; He, Z.; Li, D.; Zhou, H.; Wang, J. Maximum Correntropy Unscented Kalman Filter for Ballistic Missile Navigation System based on SINS/CNS Deeply Integrated Mode. Sensors 2018, 18, 1724.

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