The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 12, 2021
Filed:
Apr. 13, 2017
Applicant:
Southeast University, Nanjing, CN;
Inventors:
Xiyuan Chen, Nanjing, CN;
Bingbo Cui, Nanjing, CN;
Wei Wang, Nanjing, CN;
Zhengyang Zhao, Nanjing, CN;
Lin Fang, Nanjing, CN;
Assignee:
SOUTHEAST UNIVERSITY, Nanjing, CN;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G01S 19/47 (2010.01); G01C 21/16 (2006.01); G01S 5/02 (2010.01); G01C 21/20 (2006.01);
U.S. Cl.
CPC ...
G01S 19/47 (2013.01); G01C 21/16 (2013.01); G01S 5/0294 (2013.01); G01C 21/165 (2013.01); G01C 21/20 (2013.01);
Abstract
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.