Adaptive Central Difference Kalman Filter With Unknown Measurement Noise Covariance and Its Application to Airborne POS

Position and Orientation system (POS), a loosely integrated inertial navigation system (INS) and global positioning system (GPS), can provide high-accuracy motion information for the airborne remote sensing loads, which plays a crucial role in airborne remote sensing imaging. However, the airborne POS often suffers from the harsh environment, such as aircraft maneuver mode and other external disturbance, which will lead to measurement noise unknown and further affects the accuracy of motion parameters. In this paper, an adaptive central difference Kalman filter method based on expectation maximization algorithm is proposed, which can estimate measurement noise adaptively and further improve the performance of POS. A flight experiment is conducted and the results show that the proposed method achieves higher-accuracy motion information by compared with the traditional CDKF method and covariance matching.