A Modified Adaptive Square-root Cubature Kalman Filter for GNSS/INS Integration

Zhe Yue, Baowang Lian, Yang Gao, Shaohua Chen, Ye Wang

Peer Reviewed

Abstract: In the GNSS/INS integrated navigation system, the filtering accuracy of Square-root Cubature Kalman Filter (SCKF) will reduce when the measurement noise statistics is not precisely known. To solve this problem, a Modified Adaptive SCKF (MASCKF) method is proposed. At first, the maximum likelihood estimation of the innovation covariance with a moving window is calculated to adaptively adjust the measurement noise statistics. Then, a new adaptive filter framework is designed, which utilizes a plurality of moving window estimators with different widths. Finally, the corresponding weights are set according to the different innovation covariance, which can optimize the innovation covariance and reduce the filtering errors due to the improperly selected width of moving window. To evaluate the performance of this algorithm in the GNSS/INS integrated navigation system, a vehicle test is conducted. The test results show that the proposed MASCKF can improve the estimation accuracy and robustness compared to SCKF and ASCKF. The proposed method can effectively improve the adaptive ability and performance of the GNSS/INS integrated navigation system.
Published in: Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018)
September 24 - 28, 2018
Hyatt Regency Miami
Miami, Florida
Pages: 3136 - 3144
Cite this article: Yue, Zhe, Lian, Baowang, Gao, Yang, Chen, Shaohua, Wang, Ye, "A Modified Adaptive Square-root Cubature Kalman Filter for GNSS/INS Integration," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 3136-3144. https://doi.org/10.33012/2018.15982
Full Paper: ION Members/Non-Members: 1 Download Credit
Sign In