2014
DOI: 10.5194/isprsarchives-xl-3-w1-149-2014
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Singular Value Decomposition-Based Robust Cubature Kalman Filter for an Integrated GPS/Sins Navigation System

Abstract: ABSTRACT:A new nonlinear robust filter is proposed in this paper to deal with the outliers of an integrated GPS/SINS navigation system. The influence of different design parameters for H ∞ cubature Kalman filter is analysed. It is found that when the design parameter is smaller, the robustness of the filter is stronger. However, the design parameter is easily out of step with the Riccati equation and the filter is easy to diverge. In this respect, the singular value decomposition algorithm is employed to repla… Show more

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Cited by 1 publication
(1 citation statement)
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“…In [21], a square-root adaptive CKF is applied in the spacecraft attitude estimation. In [22,23], a Cubature H1 filter and its square-root version are proposed and verified in a continuous stirred tank reactor and a permanent magnet synchronous motor as examples. The CKF can also be applied to the SLAM (Simultaneous Localisation And Mapping) problem as reported in [24].…”
Section: Introductionmentioning
confidence: 99%
“…In [21], a square-root adaptive CKF is applied in the spacecraft attitude estimation. In [22,23], a Cubature H1 filter and its square-root version are proposed and verified in a continuous stirred tank reactor and a permanent magnet synchronous motor as examples. The CKF can also be applied to the SLAM (Simultaneous Localisation And Mapping) problem as reported in [24].…”
Section: Introductionmentioning
confidence: 99%