A method of BDS/SINS integrated navigation fusion based on CKF algorithm
Mafeng Gao, Xin Chao Zhao, Quanhu Li, Zhenming Wang · 2017
For the sake of navigation precision enhancement of BDS/SINS(Beidou Satellite Navigation System/SINS) tightly coupled navigation system. under complex environment, seeing the defects that linearization error introduced in Extended Kalman Filter (EKF) tends to cause filtering effect decline, and that improper parameter adjustment lead to filtering effect decline as this adjustment is necessary for Unscented Kalman Filter (UKF), this article suggests Cubature Kalman Filter (CKF) algorithm be applied in nonlinear model of BDS/SINS tightly coupled navigation, and conducts a comparison study on information fusion performance with the EKF and UKF under the same condition. The experiment result reveals that the CKF algorithm outperforms the EKF or UKF in precision. This simulation result is significant for hoisting navigation precision of BDS/SINS tightly coupled navigation system.