An Improved Cubature Kalman Filter for GNSS-Denied and System-Noise-Varying INS/GNSS Navigation

The degradation of nonlinear filtering in INS/GNSS integrated navigation due to missing GNSS observations and system noise uncertainty is addressed in this paper. An improved cubature Kalman filter (ICKF) is proposed, leveraging a modified cubature point update framework (MUF) and the maximum likeli...

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Bibliographic Details
Published in:Micromachines
Main Authors: Di Liu, Xiyuan Chen, Bingbo Cui
Format: Article
Language:English
Published: MDPI AG 2025-09-01
Subjects:
integrated navigation
INS/GNSS
GNSS-denied
navigation system uncertainty
Online Access:https://www.mdpi.com/2072-666X/16/10/1116

Internet

https://www.mdpi.com/2072-666X/16/10/1116

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