基于cubature Kalman filter的INS/GPS组合导航滤波算法

INS/GPS组合导航系统的本质是非线性的,为改善非线性下INS/GPS组合导航精度,提出将一种新的非线性滤波cubature Kalman filter（CKF）应用于INS/GPS组合导航中.为此,建立了基于平台失准角的非线性状态模型和以速度误差及位置误差描述的观测模型,分析了CKF滤波原理,设计了INS/GPS组合滤波器,对组合导航非线性模型进行了仿真.仿真结果显示,相对于扩展卡尔曼滤波（EKF）,CKF降低了姿态、位置和速度估计误差,CKF更适合于处理组合导航的状态估计问题.

INS/GPS integrated navigation filter algorithm based on cubature Kalman filter

The essence of INS/GPS navigation is nonlinear.To deal with the accuracy of INS/GPS navigation under nonlinear,a new nonlinear filtering method,cubature Kalman filter(CKF),is applied to the INS/GPS navigation.Therefor,the nonlinear state model based on the platform misalignment angle and the observation model described by the velocity error and position error is established,the CKF filtering principle is analyzed and the INS/GPS integrated filter is designed to simulate nonlinear model.Simulation results show that CKF reduces the estimation errors of attitude,position and speed compared with extended Kalman filter(EKF),and CKF prefers to deal with the state estimation problem of integrated navigation.