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With the completion of the Beidou-3 system (BDS) in China, INS/BDS integration will become a promising navigation and positioning strategy. However, due to the nonlinear propagation characteristic of INS error and inevitable involvement of inaccurate measurement noise statistics, it is difficult to achieve the optimal solution through the INS/BDS integration. This paper proposes a method of cubature Kalman filter (CKF) with the measurement noise covariance estimation by using the maximum likelihood principle to solve the abovementioned problem. It establishes an estimation model for measurement noise covariance according to the maximum likelihood principle, and then, its estimation is calculated by utilizing the sequential quadratic programming. The estimated measurement noise covariance will be fed back to the procedure of CKF to improve its adaptability. Simulation and comparison analysis verify that the proposed method can accurately estimate measurement noise covariance to effectively restrain its influence on navigation solution, leading to improved navigation performance for the INS/BDS integration.
Gao et al. (Fri,) studied this question.