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Sensors 2018, 18(6), 1919; https://doi.org/10.3390/s18061919

An Improved Strong Tracking Cubature Kalman Filter for GPS/INS Integrated Navigation Systems

1
Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, China
2
National Key Laboratory for Electronic Measurement Technology, North University of China, Taiyuan 030051, China
*
Author to whom correspondence should be addressed.
Received: 8 May 2018 / Revised: 8 June 2018 / Accepted: 8 June 2018 / Published: 12 June 2018
(This article belongs to the Section Physical Sensors)
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Abstract

The cubature Kalman filter (CKF) is widely used in the application of GPS/INS integrated navigation systems. However, its performance may decline in accuracy and even diverge in the presence of process uncertainties. To solve the problem, a new algorithm named improved strong tracking seventh-degree spherical simplex-radial cubature Kalman filter (IST-7thSSRCKF) is proposed in this paper. In the proposed algorithm, the effect of process uncertainty is mitigated by using the improved strong tracking Kalman filter technique, in which the hypothesis testing method is adopted to identify the process uncertainty and the prior state estimate covariance in the CKF is further modified online according to the change in vehicle dynamics. In addition, a new seventh-degree spherical simplex-radial rule is employed to further improve the estimation accuracy of the strong tracking cubature Kalman filter. In this way, the proposed comprehensive algorithm integrates the advantage of 7thSSRCKF’s high accuracy and strong tracking filter’s strong robustness against process uncertainties. The GPS/INS integrated navigation problem with significant dynamic model errors is utilized to validate the performance of proposed IST-7thSSRCKF. Results demonstrate that the improved strong tracking cubature Kalman filter can achieve higher accuracy than the existing CKF and ST-CKF, and is more robust for the GPS/INS integrated navigation system. View Full-Text
Keywords: GPS/INS integrated navigation; cubature Kalman filter; strong tracking filter; spherical simplex-radial rule GPS/INS integrated navigation; cubature Kalman filter; strong tracking filter; spherical simplex-radial rule
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Feng, K.; Li, J.; Zhang, X.; Zhang, X.; Shen, C.; Cao, H.; Yang, Y.; Liu, J. An Improved Strong Tracking Cubature Kalman Filter for GPS/INS Integrated Navigation Systems. Sensors 2018, 18, 1919.

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