TY - GEN
T1 - SINS/GPS Tightly-Coupled Integration Navigation Method Based on Quadrature Point Updating Cubature Kalman Filter
AU - Ran, Peizhi
AU - Chao, Tao
AU - Yang, Ming
N1 - Publisher Copyright:
© 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - SINS/GPS tightly-coupled integration navigation is based on nonlinear Kalman filtering algorithm. Aiming at solving the problems of non-Gaussian and high-order information loss and low filtering accuracy in it, a new SINS/GPS tightly-coupled integration navigation method based on quadrature point updating cubature Kalman filter is proposed. Pseudo-range information are used to participate in filtering in the nonlinear measurement model. Taking the correction effect of measurement quadrature points on the state quadrature point into account, the state update equation is established to directly update the state quadrature point, so as to build the whole SINS/GPS tightly-coupled integration navigation process. Taking the surface ship as the simulation object, the method we put forward is applied to the ship simulation model. The navigation results clearly indicate that in the SINS/GPS tightly-coupled integration navigation problem under the non-linear measurement model, the filtering accuracy of this method we put forward is brilliant compared to that of the traditional non-linear filtering algorithm including the extended Kalman filter and the cubature Kalman filter, especially, it has better estimation accuracy for velocity parameters and north position parameters. The feasibility and validity of the method are verified.
AB - SINS/GPS tightly-coupled integration navigation is based on nonlinear Kalman filtering algorithm. Aiming at solving the problems of non-Gaussian and high-order information loss and low filtering accuracy in it, a new SINS/GPS tightly-coupled integration navigation method based on quadrature point updating cubature Kalman filter is proposed. Pseudo-range information are used to participate in filtering in the nonlinear measurement model. Taking the correction effect of measurement quadrature points on the state quadrature point into account, the state update equation is established to directly update the state quadrature point, so as to build the whole SINS/GPS tightly-coupled integration navigation process. Taking the surface ship as the simulation object, the method we put forward is applied to the ship simulation model. The navigation results clearly indicate that in the SINS/GPS tightly-coupled integration navigation problem under the non-linear measurement model, the filtering accuracy of this method we put forward is brilliant compared to that of the traditional non-linear filtering algorithm including the extended Kalman filter and the cubature Kalman filter, especially, it has better estimation accuracy for velocity parameters and north position parameters. The feasibility and validity of the method are verified.
KW - Nonlinear measurement model
KW - Quadrature point updating
KW - SINS/GPS tightly-coupled integration navigation
UR - https://www.scopus.com/pages/publications/85120645967
U2 - 10.1007/978-981-15-8155-7_385
DO - 10.1007/978-981-15-8155-7_385
M3 - 会议稿件
AN - SCOPUS:85120645967
SN - 9789811581540
T3 - Lecture Notes in Electrical Engineering
SP - 4655
EP - 4665
BT - Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Yu, Xiang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2020
Y2 - 23 October 2020 through 25 October 2020
ER -