Research of an Adaptive Cubature Kalman Filter for GPS/SINS Tightly Integrated Navigation System

Chen Zhao, Shuai Chen, Yiping Wang

In view of the characteristics of Ballistic missile, the GPS/SINS tightly integrated navigation algorithm based on pseudo range/pseudo range rate in the Launch inertial coordinates is studied in this paper. The coordinate transformation method from ECEF coordinates to the Launch inertial coordinates is derived. The strap-down inertial navigation error equation and GPS error equation were derived in this coordinates. The state equations and measurement equations for GPS/SINS tightly integrated navigation system are established. Then an adaptive cubature kalman filter (ACKF) is employed to improve the position performance. The numerical simulation shows the better accuracy performance of the integrated navigation system.e and control the quality of the vector tracking loop.