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发明公开
CN106291645A 适于高维GNSS/INS深耦合的容积卡尔曼滤波方法 有权

适于高维GNSS/INS深耦合的容积卡尔曼滤波方法
摘要：
本发明公开了一种适于高维GNSS/INS深耦合的容积卡尔曼滤波方法，包括：S1、构造高维GNSS/INS深耦合滤波模型；S2、对构造的滤波模型采用标准容积规则产生初始化容积点；S3、采用新型容积点更新规则进行CKF滤波。本发明适于高维GNSS/INS深耦合滤波，且精度高，稳定性高。
摘要（英）：

The invention discloses a cubature Kalman filtering (CKF) method applied to high-dimensional GNSS/INS deep coupling. The method comprises steps: S1, a high-dimensional GNSS/INS deep coupling filtering model is built; S2, a standard cubature rule is adopted for the built filtering model to generate an initial cubature point; and S3, the novel cubature point is adopted to update the rule for CKF. The method of the invention is applied to high-dimensional GNSS/INS deep coupling, and has the advantages of high stability and high precision.

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