Southeast University

Bingbo Cui

Xiyuan Chen

Wei Dong Wang

Yang Yang

Lin Fang

Xuefen Zhu

Xinhua Tang

Xiying Wang

Zhengyang Zhao

The present invention discloses a cubature Kalman filtering method suitable for high-dimensional GNSS/INS deep coupling, including: S, constructing a high-dimensional GNSS/INS deep coupling filter model; S, generating an initialization cubature point for the constructed filter model by using standard cubature rules; S, performing CKF filtering by using novel cubature point update rules. The present invention is suitable for high-dimensional GNSS/INS deep coupling filtering with high precision and high stability.

Cubature Kalman filtering method suitable for high-dimensional GNSS/INS deep coupling

The present invention discloses a joint non-coherent integral vector tracking method based on a spatial domain, which is used for further improving the performance of a vector tracking GPS (Global Positioning System) receiver. In a new vector tracking strategy design, a phase discriminator/a frequency discriminator in a traditional vector tracking loop is discarded, and baseband signals of visible satellites in each channel are taken as an observation value after performing non-coherent integration, and EKF (abbreviation of Extended Kalman Filter) is used to estimate directly and to solve the position, the velocity, a clock error, etc. of the GPS receiver. Because of the existence of non-coherent integral calculation, when GPS satellite signals are relatively weak, a carrier to noise ratio of an observation value may be effectively improved, and the tracking sensitivity is improved.

Joint non-coherent integral vector tracking method based on spatial domain

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Nanjing, China

Bingbo Cui