Research on data fusion for SINS/GPS/ magnetometer integrated navigation based on modified CDKF

This paper is concerned with the problem of information fusion for the integration of an strapdown inertial navigation system (SINS), Global Positioning System (GPS) and magnetometer. A classic nonlinear error model of SINS was reviewed. To preserve the nonlinear nature of the model, the central difference Kalman filter (CDKF) is applied to estimate the state error. And in order to reduce the computation complexity, a modified CDKF is derived. Two numerical simulations were carried out , and the experimental results confirm the validity of the nonlinear model and superior performance of the modified CDKF.