Improved Cubature Kalman Filter for GNSS/INS Based on Transformation of Posterior Sigma-Points Error

Tightly coupled GNSS/INS has been widely approved as a promising substitute for standalone GNSS in urban areas navigation. However, due to the frequent GNSS signal outages, the filter used in GNSS/INS should be insensitive to the less informative observations. In this paper, a novel sigma-points upd...

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Veröffentlicht in:	IEEE transactions on signal processing 2017-06, Vol.65 (11), p.2975-2987
Hauptverfasser:	Cui, Bingbo, Chen, Xiyuan, Tang, Xinhua
Format:	Artikel
Sprache:	eng
Schlagworte:	Bayes methods cubature Kalman filter Deterministic sampling Estimation Finite impulse response filters Information filters integrated navigation Kalman filters observations missing
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