Improved alman Filter Algorithm of GPS.docVIP

Improved Kalman Filter Algorithm of GPS/INS Integrated Navigation without GPS Signal ZHU Lixin1, MENG Yan2 (1.Electronic Engineering Institute of PLA, Anhui 230037,China) (2.No.72671 Unit of PLA, Jinan 250022,China) Abstract: To solve the problems that the navigation accuracy of GPS/INS(Global Positioning System/Inertial Navigation System) tightly integrated navigation system is lower under GPS signal invalidation circumstances, and the model error and calculation error exists in the application of CKF(Cubature Kalman Filter), a strong tracking SRCKF(Square-Root CKF) is proposed under the bac