The application of Square-Root Cubature Kalman Filter in the SINS/CNS integrated navigation system

2016 ◽  
Author(s):  
Dongyang Zhang ◽  
Zhihong Deng ◽  
Bo Wang ◽  
Mengyin Fu
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Square Root ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Cubature Kalman Filter

scholarly journals Novel strong tracking square‐root cubature kalman filter for GNSS/INS integrated navigation system

2019 ◽  
Vol 13 (6) ◽  
pp. 976-982 ◽  
Author(s):  
Zhe Yue ◽  
Baowang Lian ◽  
Kaixiang Tong ◽  
Shaohua Chen
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Square Root ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Cubature Kalman Filter

Multi-rate strong tracking square-root cubature Kalman filter for MEMS-INS/GPS/polarization compass integrated navigation system

2022 ◽  
Vol 163 ◽  
pp. 108146
Author(s):  
Chong Shen ◽  
Yufeng Xiong ◽  
Donghua Zhao ◽  
Chenguang Wang ◽  
Huiliang Cao ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Square Root ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Cubature Kalman Filter ◽  
Polarization Compass

Model aided airborne integrated navigation system based on an improved square-root unscented H∞ filter

2018 ◽  
Vol 41 (5) ◽  
pp. 1290-1300
Author(s):  
Jieliang Shen ◽  
Yan Su ◽  
Qing Liang ◽  
Xinhua Zhu
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Unscented Kalman Filter ◽  
Statistical Characteristics ◽  
Small Scale ◽  
Strong Nonlinearity ◽  
Square Root ◽  
Integrated Navigation ◽  
Fusion Algorithm ◽  
Integrated Navigation System

An inertial navigation system (INS) aided with an aircraft dynamic model (ADM) is developed as a novel airborne integrated navigation system, coping with the absence of a global navigation satellite system. To overcome the shortcomings of the conventional linear integration of INS/ADM based on an extended Kalman filter, a nonlinear integration method is proposed. Fast-update ADM makes it possible to utilize a direct filtering method, which employs nonlinear INS mechanics as system equations and a nonlinear ADM as observation equations, substituting the indirect filtering based on linear error equations. The strong nonlinearity generally calls for an unscented Kalman filter to accomplish the fusion process. Dealing with the model uncertainty, the inaccurate statistical characteristics of the noise and the potential nonpositive definiteness of the covariance matrix, an improved square-root unscented H∞ filter (ISRUHF) is derived in the paper, in which the robust factor [Formula: see text] is further expanded into a diagonal matrix [Formula: see text], to improve the accuracy and robustness of the integrated navigation system. Corresponding simulations as well as real flight tests based on a small-scale fixed-wing aircraft are operated and ISRUHF shows superiority compared with the commonly used fusion algorithm.

Variational Bayesian-Based Robust Cubature Kalman Filter With application on SINS/GPS integrated navigation system

2021 ◽  
pp. 1-1
Author(s):  
Xuhang Liu ◽  
Xiaoxiong Liu ◽  
Yue Yang ◽  
Yicong Guo ◽  
Weiguo Zhang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Integrated Navigation ◽  
Variational Bayesian ◽  
Integrated Navigation System ◽  
Cubature Kalman Filter

scholarly journals Application of MCC-based Robust High-degree Cubature Kalman Filter in Integrated Navigation System

2019 ◽  
Vol 1168 (6) ◽  
pp. 062029
Author(s):  
Ming-qi Xu ◽  
Guo-rong Huang ◽  
Hang Lu ◽  
Zhi-ying Peng ◽  
Shun-yi Hao ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Cubature Kalman Filter ◽  
High Degree

scholarly journals AGMC-Based Robust Cubature Kalman Filter for SINS/GNSS Integrated Navigation System With Unknown Noise Statistics

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 1693-1706
Author(s):  
Kaiqiang Feng ◽  
Jie Li ◽  
Debiao Zhang ◽  
Xiaokai Wei ◽  
Jianping Yin
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Cubature Kalman Filter ◽  
Noise Statistics

scholarly journals The Design and Implementation of an Inertial GNSS Odometer Integrated Navigation System Based on a Federated Kalman Filter for High-Speed Railway Track Inspection

2021 ◽  
Vol 11 (11) ◽  
pp. 5244
Author(s):  
Xinchun Zhang ◽  
Ximin Cui ◽  
Bo Huang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
High Speed ◽  
Measurement Accuracy ◽  
Railway Track ◽  
Filter Method ◽  
Integrated Navigation ◽  
High Speed Railway ◽  
Track Geometry ◽  
Integrated Navigation System

The detection of track geometry parameters is essential for the safety of high-speed railway operation. To improve the accuracy and efficiency of the state detector of track geometry parameters, in this study we propose an inertial GNSS odometer integrated navigation system based on the federated Kalman, and a corresponding inertial track measurement system was also developed. This paper systematically introduces the construction process for the Kalman filter and data smoothing algorithm based on forward filtering and reverse smoothing. The engineering results show that the measurement accuracy of the track geometry parameters was better than 0.2 mm, and the detection speed was about 3 km/h. Thus, compared with the traditional Kalman filter method, the proposed design improved the measurement accuracy and met the requirements for the detection of geometric parameters of high-speed railway tracks.

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