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Cubature Kalman Filtering Method Suitable for High-dimensional GNSS/INS Deep Coupling

机译：适用于高维GNSS / INS深层耦合的Cubature卡尔曼滤波方法

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摘要

The present invention discloses a cubature Kalman filtering method suitable for high-dimensional GNSS/INS deep coupling, including: S1, constructing a high-dimensional GNSS/INS deep coupling filter model; S2, generating an initialization cubature point for the constructed filter model by using standard cubature rules; S3, performing CKF filtering by using novel cubature point update rules. The present invention is suitable for high-dimensional GNSS/INS deep coupling filtering with high precision and high stability.

机译：本发明公开了一种适用于高维GNSS / INS深耦合的孵化器卡尔曼滤波方法，包括：S 1 ，构建高维GNSS / INS深耦合滤波模型; S 2 ，通过使用标准孵化规则为构造的过滤器模型生成一个初始化孵化点; S 3 ，通过使用新颖的孵化点更新规则执行CKF过滤。本发明适用于高精度，高稳定性的高维GNSS / INS深耦合滤波。 展开▼

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公开/公告号US2019129044A1

专利类型

公开/公告日2019-05-02

原文格式PDF

申请/专利权人 SOUTHEAST UNIVERSITY;
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申请/专利号US201716094474

发明设计人 XIYUAN CHEN;BINGBO CUI;WEI WANG;ZHENGYANG ZHAO;LIN FANG;
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申请日2017-04-13

分类号G01S19/47;

国家 US

入库时间 2022-08-21 12:06:11

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1. 适于高维GNSS/INS深耦合的容积卡尔曼滤波方法 [P] . 中国专利： CN106291645B . 2018.08.21

2. 适于高维GNSS/INS深耦合的容积卡尔曼滤波方法 [P] . 中国专利： CN106291645A . 2017-01-04

3. VOLUME KALMAN FILTERING METHOD SUITABLE FOR HIGH-DIMENSIONAL GNSS/INS DEEP COUPLING [P] . 世界知识产权组织专利： WO2018014602A1 . 2018-01-25

机译：适用于高维GNSS / INS深耦合的体积卡尔曼滤波方法

4. ITERATIVE CUBATURE UNSCENTED KALMAN FILTERING METHOD [P] . 世界知识产权组织专利： WO2020052213A1 . 2020-03-19

机译：迭代CUBA卡尔曼滤波方法

5. Method to compute an error bound of a Kalman filter-based GNSS position solution [P] . ES2776723T3 . 2020-07-31

机译：基于卡尔曼滤波器的GNSS位置解误差边界的计算方法

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