Singular value decomposition-based robust cubature Kalman filtering for an integrated GPS/SINS navigation system
A new nonlinear robust filter is proposed in this paper to deal with the outliers of an integrated Global Positioning System/Strapdown Inertial Navigation System (GPS/SINS) navigation system. The influence of different design parameters for an H∞ cubature Kalman filter is analysed. It is found that...
| Main Authors: | , , , |
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| Format: | Article |
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Cambridge University Press
2015
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| Online Access: | https://eprints.nottingham.ac.uk/35396/ |
| _version_ | 1848795068066955264 |
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| author | Zhang, Qiuzhao Meng, Xiaolin Zhang, Shubi Wang, Yunjia |
| author_facet | Zhang, Qiuzhao Meng, Xiaolin Zhang, Shubi Wang, Yunjia |
| author_sort | Zhang, Qiuzhao |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | A new nonlinear robust filter is proposed in this paper to deal with the outliers of an integrated Global Positioning System/Strapdown Inertial Navigation System (GPS/SINS) navigation system. The influence of different design parameters for an H∞ cubature Kalman filter is analysed. It is found that when the design parameter is small, the robustness of the filter is stronger. However, the design parameter is easily out of step in the Riccati equation and the filter easily diverges. In this respect, a singular value decomposition algorithm is employed to replace the Cholesky decomposition in the robust cubature Kalman filter. With large conditions for the design parameter, the new filter is more robust. The test results demonstrate that the proposed filter algorithm is more reliable and effective in dealing with the outliers in the data sets produced by the integrated GPS/SINS system. |
| first_indexed | 2025-11-14T19:26:12Z |
| format | Article |
| id | nottingham-35396 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:26:12Z |
| publishDate | 2015 |
| publisher | Cambridge University Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-353962020-05-04T20:09:00Z https://eprints.nottingham.ac.uk/35396/ Singular value decomposition-based robust cubature Kalman filtering for an integrated GPS/SINS navigation system Zhang, Qiuzhao Meng, Xiaolin Zhang, Shubi Wang, Yunjia A new nonlinear robust filter is proposed in this paper to deal with the outliers of an integrated Global Positioning System/Strapdown Inertial Navigation System (GPS/SINS) navigation system. The influence of different design parameters for an H∞ cubature Kalman filter is analysed. It is found that when the design parameter is small, the robustness of the filter is stronger. However, the design parameter is easily out of step in the Riccati equation and the filter easily diverges. In this respect, a singular value decomposition algorithm is employed to replace the Cholesky decomposition in the robust cubature Kalman filter. With large conditions for the design parameter, the new filter is more robust. The test results demonstrate that the proposed filter algorithm is more reliable and effective in dealing with the outliers in the data sets produced by the integrated GPS/SINS system. Cambridge University Press 2015-05 Article PeerReviewed Zhang, Qiuzhao, Meng, Xiaolin, Zhang, Shubi and Wang, Yunjia (2015) Singular value decomposition-based robust cubature Kalman filtering for an integrated GPS/SINS navigation system. Journal of Navigation, 68 (03). pp. 549-562. ISSN 1469-7785 Singular Value Decomposition; Cubature Kalman Filter; Integrated Navigation System; Nonlinear Filter http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=9623825&fileId=S0373463314000812 doi:10.1017/S0373463314000812 doi:10.1017/S0373463314000812 |
| spellingShingle | Singular Value Decomposition; Cubature Kalman Filter; Integrated Navigation System; Nonlinear Filter Zhang, Qiuzhao Meng, Xiaolin Zhang, Shubi Wang, Yunjia Singular value decomposition-based robust cubature Kalman filtering for an integrated GPS/SINS navigation system |
| title | Singular value decomposition-based robust cubature Kalman filtering for an integrated GPS/SINS navigation system |
| title_full | Singular value decomposition-based robust cubature Kalman filtering for an integrated GPS/SINS navigation system |
| title_fullStr | Singular value decomposition-based robust cubature Kalman filtering for an integrated GPS/SINS navigation system |
| title_full_unstemmed | Singular value decomposition-based robust cubature Kalman filtering for an integrated GPS/SINS navigation system |
| title_short | Singular value decomposition-based robust cubature Kalman filtering for an integrated GPS/SINS navigation system |
| title_sort | singular value decomposition-based robust cubature kalman filtering for an integrated gps/sins navigation system |
| topic | Singular Value Decomposition; Cubature Kalman Filter; Integrated Navigation System; Nonlinear Filter |
| url | https://eprints.nottingham.ac.uk/35396/ https://eprints.nottingham.ac.uk/35396/ https://eprints.nottingham.ac.uk/35396/ |