A Novel INS/CNS/GNSS Integrated Navigation Algorithm

摘要

For improving the navigation ability of the INS/CNS/GNSS system in the non-Gaussian noise environment, a novel navigation algorithm based on maximum correntropy generalized high-degree CKF (MCHCKF) is proposed. First, the INS/GNSS and INS/CNS systems obtain the sub-states by the MCHCKF algorithm, respectively. Then, according to the minimum variance criterion and cubature rule, the sub-state estimations are fused to get the global state. Finally, the superior performance of the proposed method is proved in the missile-borne navigation simulation system.