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Maximum Correntropy Unscented Kalman Filter for Ballistic Missile Navigation System based on SINS/CNS Deeply Integrated Mode

机译：基于SINS / CNS深度集成模式的弹道导弹导航系统最大熵无味卡尔曼滤波。

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摘要

Strap-down inertial navigation system/celestial navigation system (SINS/CNS) integrated navigation is a high precision navigation technique for ballistic missiles. The traditional navigation method has a divergence in the position error. A deeply integrated mode for SINS/CNS navigation system is proposed to improve the navigation accuracy of ballistic missile. The deeply integrated navigation principle is described and the observability of the navigation system is analyzed. The nonlinearity, as well as the large outliers and the Gaussian mixture noises, often exists during the actual navigation process, leading to the divergence phenomenon of the navigation filter. The new nonlinear Kalman filter on the basis of the maximum correntropy theory and unscented transformation, named the maximum correntropy unscented Kalman filter, is deduced, and the computational complexity is analyzed. The unscented transformation is used for restricting the nonlinearity of the system equation, and the maximum correntropy theory is used to deal with the non-Gaussian noises. Finally, numerical simulation illustrates the superiority of the proposed filter compared with the traditional unscented Kalman filter. The comparison results show that the large outliers and the influence of non-Gaussian noises for SINS/CNS deeply integrated navigation is significantly reduced through the proposed filter.
机译：捷联惯性导航系统/天体导航系统（SINS / CNS）集成导航是弹道导弹的高精度导航技术。传统的导航方法在位置误差方面存在分歧。为了提高弹道导弹的导航精度，提出了一种SINS / CNS导航系统的深度集成模式。描述了深度集成的导航原理，并分析了导航系统的可观察性。在实际的导航过程中，经常会出现非线性以及较大的离群值和高斯混合噪声，从而导致导航滤波器出现发散现象。在最大熵理论和无味变换的基础上，推导了一种新的非线性卡尔曼滤波器，即最大熵无味卡尔曼滤波器，并分析了计算复杂度。无味变换用于限制系统方程的非线性，最大熵理论用于处理非高斯噪声。最后，数值模拟表明了该滤波器与传统的无味卡尔曼滤波器相比的优越性。比较结果表明，通过提出的滤波器，极大地降低了异常值和非高斯噪声对SINS / CNS深度集成导航的影响。

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