Study on simulation and application of Kalman filter arithmetic in integrated navigation system

To solve the problems of the nonlinear model of INS/GPS integrated navigation system, the advantages and disadvantages of the Kalman filter (KF), sigma-point Kalman filter (SPKF) and square-root sigma-point Kalman filter (SR-SPKF) were discussed. The arithmetic of adaptive square-root sigma-point Kalman filter (ASR-SPKF) was proposed, which was the most perfect arithmetic for the nonlinear system. Adaptive factor was added into the square-root sigma-point Kalman filter to overcome the bad effect caused by the largely disturbance disorder in the vector space model. Finally, several arithmetic methods were simulated. The test results indicated that the adaptive square-root sigma-point Kalman filter (ASR-SPKF) arithmetic had better adaptability and accuracy to overcome the largely exceptional disturbance in the vector space model.