公开(公告)号：US20190129044A1

公开(公告)日：2019-05-02

申请号：US16094474

申请日：2017-04-13

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiyuan CHEN ,  Bingbo CUI ,  Wei WANG ,  Zhengyang ZHAO ,  Lin FANG

IPC: G01S19/47

Abstract: 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.