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...

Full description

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

Similar Items

INS/LIDAR/Stereo SLAM Integration for Precision Navigation in GNSS-Denied Environments
by: Nader Abdelaziz, et al.
Published: (2023-08-01)

Indoor and Outdoor Low-Cost Seamless Integrated Navigation System Based on the Integration of INS/GNSS/LIDAR System
by: Ningbo Li, et al.
Published: (2020-10-01)

A Novel Method for AI-Assisted INS/GNSS Navigation System Based on CNN-GRU and CKF during GNSS Outage
by: Shuai Zhao, et al.
Published: (2022-09-01)

GNSS-Denied Semi-Direct Visual Navigation for Autonomous UAVs Aided by PI-Inspired Inertial Priors
by: Eduardo Gallo, et al.
Published: (2023-02-01)

An improved Kalman filter algorithm for tightly GNSS/INS integrated navigation system
by: Yuelin Yuan, et al.
Published: (2024-01-01)

Research on GNSS INS & GNSS/INS Integrated Navigation Method for Autonomous Vehicles: A Survey
by: Yuan He, et al.
Published: (2023-01-01)

Long-Distance GNSS-Denied Visual Inertial Navigation for Autonomous Fixed-Wing Unmanned Air Vehicles: SO(3) Manifold Filter Based on Virtual Vision Sensor
by: Eduardo Gallo, et al.
Published: (2023-08-01)

Deep Learning-Aided Inertial/Visual/LiDAR Integration for GNSS-Challenging Environments
by: Nader Abdelaziz, et al.
Published: (2023-06-01)

On the precision of 6 DoF IMU-LiDAR based localization in GNSS-denied scenarios
by: Matteo Frosi, et al.
Published: (2023-01-01)

A Novel FECAM-iTransformer Algorithm for Assisting INS/GNSS Navigation System during GNSS Outages
by: Xinghong Kuang, et al.
Published: (2024-09-01)

A Global ArUco-Based Lidar Navigation System for UAV Navigation in GNSS-Denied Environments
by: Ziyi Qiu, et al.
Published: (2022-08-01)

Optoelectronic support for Inertial Navigation Systems
by: Dawid Florczak, et al.
Published: (2025-10-01)

Tightly Coupled GNSS/INS Integration with Robust Sequential Kalman Filter for Accurate Vehicular Navigation
by: Yi Dong, et al.
Published: (2020-01-01)

A Comprehensive Review of GNSS/INS Integration Techniques for Land and Air Vehicle Applications
by: Nurlan Boguspayev, et al.
Published: (2023-04-01)

Enhancing Integrated Navigation with a Self-Attention LSTM Hybrid Network for UAVs in GNSS-Denied Environments
by: Ziyi Wang, et al.
Published: (2025-04-01)

Loosely Coupled GNSS and UWB with INS Integration for Indoor/Outdoor Pedestrian Navigation
by: Vincenzo Di Pietra, et al.
Published: (2020-11-01)

A GRU and AKF-Based Hybrid Algorithm for Improving INS/GNSS Navigation Accuracy during GNSS Outage
by: Yanan Tang, et al.
Published: (2022-02-01)

A Real-Time GNSS/PDR Navigation System for Mobile Devices
by: Michele Basso, et al.
Published: (2021-04-01)

Deep Learning-Based Vehicle Speed Estimation Using Smartphone Sensors in GNSS-Denied Environment
by: Beomju Shin, et al.
Published: (2025-08-01)

Application of Improved Fault Detection and Robust Adaptive Algorithm in GNSS/INS Integrated Navigation
by: Qinghai Wang, et al.
Published: (2025-02-01)

Centralized Measurement Level Fusion of GNSS and Inertial Sensors for Robust Positioning and Navigation
by: Mohamed F. Elkhalea, et al.
Published: (2025-04-01)

Simulation Experiment and Analysis of GNSS/INS/LEO/5G Integrated Navigation Based on Federated Filtering Algorithm
by: Yuqiang Wang, et al.
Published: (2022-01-01)

A Lidar-Inertial Navigation System for UAVs in GNSS-Denied Environment with Spatial Grid Structures
by: Ziyi Qiu, et al.
Published: (2022-12-01)

A Multi-Step Pseudo-Measurement Adaptive Kalman Filter Based on Filtering Performance Evaluation and Its Application in the INS/GNSS Navigation System
by: Dapeng Wang, et al.
Published: (2024-03-01)

GNSS and LiDAR Integrated Navigation Method in Orchards with Intermittent GNSS Dropout
by: Yilong Li, et al.
Published: (2024-04-01)

Sampling-Based Adaptive Techniques for Reducing Non-Gaussian Position Errors in GNSS/INS Systems
by: Yong Hun Kim, et al.
Published: (2025-09-01)

A Novel Ambiguity Parameter Estimation and Elimination Strategy for GNSS/INS Tightly Coupled Integration
by: Chun Ma, et al.
Published: (2020-10-01)

An Adaptive Unscented Kalman Ilter Integrated Navigation Method Based on the Maximum Versoria Criterion for INS/GNSS Systems
by: Jiahao Zhang, et al.
Published: (2025-05-01)

Georeferenced UAV Localization in Mountainous Terrain Under GNSS-Denied Conditions
by: Inseop Lee, et al.
Published: (2025-10-01)

Motion-Constrained GNSS/INS Integrated Navigation Method Based on BP Neural Network
by: Ying Xu, et al.
Published: (2022-12-01)

Development status and challenges of anti-spoofing technology of GNSS/INS integrated navigation
by: Lei Wang, et al.
Published: (2024-10-01)

An Enhanced, Real-Time, Low-Cost GNSS/INS Integrated Navigation Algorithm and Its Platform Design
by: Pengcheng Wang, et al.
Published: (2025-03-01)

Reliability of Real-Time Kinematic (RTK) Positioning for Low-Cost Drones’ Navigation across Global Navigation Satellite System (GNSS) Critical Environments
by: Luca Tavasci, et al.
Published: (2024-09-01)

Gnss-denied unmanned aerial vehicle navigation: analyzing computational complexity, sensor fusion, and localization methodologies
by: Imen Jarraya, et al.
Published: (2025-04-01)

OiSAM-FGO: an efficient factor graph optimization algorithm for GNSS/INS integrated navigation system
by: Zhichao Yang, et al.
Published: (2025-08-01)

gnss_lib_py: Analyzing GNSS data with Python
by: Derek Knowles, et al.
Published: (2024-09-01)

Integration of Multi-GNSS PPP-RTK/INS/Vision with a Cascading Kalman Filter for Vehicle Navigation in Urban Areas
by: Shengfeng Gu, et al.
Published: (2022-09-01)

Research on Multi-Source Data Fusion and Satellite Selection Algorithm Optimization in Tightly Coupled GNSS/INS Navigation Systems
by: Xuyang Yu, et al.
Published: (2024-07-01)

Observability-Constrained Resampling-Free Cubature Kalman Filter for GNSS/INS with Measurement Outliers
by: Bingbo Cui, et al.
Published: (2023-09-01)

Enhancing GNSS and INS Integration for High-Precision and Continuous Positioning Using Odometer Trained With TSFNN
by: Zhihang Qu, et al.
Published: (2024-01-01)