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Journal of Electrical and Computer Engineering
Volume 2017, Article ID 7863875, 8 pages
Research Article

Spherical Simplex-Radial Cubature Quadrature Kalman Filter

1Company of Postgraduate Management, Academy of Equipment, Beijing 101416, China
2Department of Optical and Electrical Equipment, Academy of Equipment, Beijing 101416, China

Correspondence should be addressed to Zhaoming Li; moc.361@yxbzgnimoahzil

Received 18 February 2017; Accepted 10 July 2017; Published 8 August 2017

Academic Editor: Bhupendra N. Tiwari

Copyright © 2017 Zhaoming Li and Wenge Yang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A spherical simplex-radial cubature quadrature Kalman filter (SSRCQKF) is proposed in order to further improve the nonlinear filtering accuracy. The Gaussian probability weighted integral of the nonlinear function is decomposed into spherical integral and radial integral, which are approximated by spherical simplex cubature rule and arbitrary order Gauss-Laguerre quadrature rule, respectively, and the novel spherical simplex-radial cubature quadrature rule is obtained. Combined with the Bayesian filtering framework, the general form and the specific form of SSRCQKF are put forward, and the numerical simulation results indicate that the proposed algorithm can achieve a higher filtering accuracy than CKF and SSRCKF.