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Robust Adaptive Cubature Kalman Filter and Its Application to Ultra-Tightly Coupled SINS/GPS Navigation System

In this paper, we propose a robust adaptive cubature Kalman filter (CKF) to deal with the problem of an inaccurately known system model and noise statistics. In order to overcome the kinematic model error, we introduce an adaptive factor to adjust the covariance matrix of state prediction, and proce...

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Detalles Bibliográficos
Autores principales: Zhao, Xin, Li, Jianli, Yan, Xunliang, Ji, Shaowen
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6068486/
https://www.ncbi.nlm.nih.gov/pubmed/30036935
http://dx.doi.org/10.3390/s18072352