Cubature Kalman filtering method suitable for high-dimensional GNSS/INS deep coupling
US10890667B2 · kind B2 · utility
3Cited by
4References
6Claims
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Key dates
| Filing date | Apr 13, 2017 |
| Grant date | Jan 12, 2021 |
| Priority date | — |
| Expiry date | Oct 20, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/20
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The present invention discloses a cubature Kalman filtering method suitable for high-dimensional GNSS/INS deep coupling, including: S1, constructing a high-dimensional GNSS/INS deep coupling filter model; S2, generating an initialization cubature point for the constructed filter model by using standard cubature rules; S3, 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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.