Application of CDKF Method in GPS/SINS Integrated Navigation Systems Nonlinear Model
Han Hui-zhen · Modern Electronics Technique · 2011
The nonlinearity of GPS/SINS navigation system model affects the estimation accuracy of extend Kalman filter(EKF).Central difference Kalman filter(CDKF) is a new nonlinear filtering method,which adopts the interpolation formula for the state estimation approximation of nonlinear systems and reduces the influence of the linearization on system accuracy.According to the characteristics of GPS/SINS navigation system,the nonlinear error model of an integrated navigation system was established.EKF and CDKF are respectively applied to the model of the navigation system toconduct the simulation comparative study.The simulation results show that CDKF method is easy to implement,meets the navigation requirement of the system in a nonlinear model,and has higher precision and convergence.