TY - GEN
T1 - Improved Embedded Cubature Kalman Algorithm in Cooperative Navigation
AU - Yan, Xiaozhen
AU - Wang, Xiyu
AU - Luo, Qinghua
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - For the issues of non-additive system noise and time-varying measurement noise during the cooperative navigation model of multiple AUVs, this paper proposes a square-root decomposition-based Extended dimension Cubature Kalman Filtering (SRECKF) algorithm. Firstly, the multiplicative noise is incorporated into the state variables for estimation, leveraging the model to estimate the noise. Subsequently, the square-root decomposition replaces the original Cholesky decomposition, propagating the square root of the variance. Finally, simulation experiments demonstrate that the proposed algorithm offers higher localization accuracy and stability compared to the Embedded Cubature Kalman Filter (ECKF) and the Extended Dimension Cubature Kalman Filter based on the SVD decomposition algorithm (SVDECKF).
AB - For the issues of non-additive system noise and time-varying measurement noise during the cooperative navigation model of multiple AUVs, this paper proposes a square-root decomposition-based Extended dimension Cubature Kalman Filtering (SRECKF) algorithm. Firstly, the multiplicative noise is incorporated into the state variables for estimation, leveraging the model to estimate the noise. Subsequently, the square-root decomposition replaces the original Cholesky decomposition, propagating the square root of the variance. Finally, simulation experiments demonstrate that the proposed algorithm offers higher localization accuracy and stability compared to the Embedded Cubature Kalman Filter (ECKF) and the Extended Dimension Cubature Kalman Filter based on the SVD decomposition algorithm (SVDECKF).
KW - Cubature Kalman Filter
KW - Embedded cubature criterion
KW - Multiplicative noise
KW - Square-root Decomposition
KW - Time-varying noise
UR - https://www.scopus.com/pages/publications/105006411165
U2 - 10.1007/978-981-96-2232-0_12
DO - 10.1007/978-981-96-2232-0_12
M3 - 会议稿件
AN - SCOPUS:105006411165
SN - 9789819622313
T3 - Lecture Notes in Electrical Engineering
SP - 113
EP - 116
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 9
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -