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An Improved Cubature Kalman Filter for GNSS-Denied and System-Noise-Varying INS/GNSS Navigation

The degradation of nonlinear filtering in INS/GNSS integrated navigation due to missing GNSS observations and system noise uncertainty is addressed in this paper. An improved cubature Kalman filter (ICKF) is proposed, leveraging a modified cubature point update framework (MUF) and the maximum likeli...

Ausführliche Beschreibung

Gespeichert in:
Hauptverfasser: Di Liu, Xiyuan Chen, Bingbo Cui
Format: Artigo
Sprache:Inglês
Veröffentlicht: MDPI AG 2025-09-01
Schriftenreihe:Micromachines
Schlagworte:
integrated navigation
INS/GNSS
GNSS-denied
navigation system uncertainty
Online-Zugang:https://www.mdpi.com/2072-666X/16/10/1116
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