Missile-borne deep integrated ARCKF (Adaptive Robust Capacity Kalman Filtering) method under strong maneuvering condition
A deep combination and maneuvering technology, applied in the field of integrated navigation, can solve problems such as errors and carrier observation anomalies, and achieve the effect of resisting errors and high estimation accuracy
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[0115] In order to illustrate the method of the present invention, fully demonstrate the reliability and robustness of the method, and reflect the filtering performance and effect of the filtering method under strong maneuvering and high dynamic conditions, the following simulation test is carried out. The proposed Adaptive Robust Volumetric Kalman Filter (ARCKF) method is applied to the GNSS / SINS deep integrated navigation of ballistic missiles under strong maneuvering and high dynamic conditions for simulation verification, and compared with the ordinary Kalman Filter (KF) algorithm , the simulation conditions are as follows:
[0116] In the GNSS / SINS integrated navigation system under the launch inertial coordinate system of this method, the state equation is taken as the linear system equation of the combination of pseudorange and pseudorange rate, and the observation equation is taken as the nonlinear observation equation of the combination of pseudorange and pseudorange r...
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