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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 system is nonlinear in nature. In order to improve INS / GPS integrated navigation accuracy under nonlinear conditions, a new non-linear filtering cubature Kalman filter (CKF) is proposed for INS / GPS integrated navigation , A nonlinear state model based on platform misalignment angle and observation model described by velocity error and position error are established. The principle of CKF filtering is analyzed. INS / GPS combination filter is designed and the nonlinear model of integrated navigation is simulated. Simulation results show that compared with Extended Kalman Filter (EKF), CKF reduces attitude, position and velocity estimation errors, and CKF is more suitable for the state estimation of integrated navigation.