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Mathematical Problems in Engineering
Volume 2017, Article ID 6969453, 9 pages
Research Article

Mixed-Degree Spherical Simplex-Radial Cubature Kalman Filter

1College of Electronic and Information Engineering, Southwest University, Chongqing 400715, China
2Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing, Chongqing 400715, China

Correspondence should be addressed to Shukai Duan; nc.ude.uws@ksnaud

Received 1 September 2016; Accepted 20 February 2017; Published 19 March 2017

Academic Editor: Bo Shen

Copyright © 2017 Shiyuan Wang et al. 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.


Conventional low degree spherical simplex-radial cubature Kalman filters often generate low filtering accuracy or even diverge for handling highly nonlinear systems. The high-degree Kalman filters can improve filtering accuracy at the cost of increasing computational complexity; nevertheless their stability will be influenced by the negative weights existing in the high-dimensional systems. To efficiently improve filtering accuracy and stability, a novel mixed-degree spherical simplex-radial cubature Kalman filter (MSSRCKF) is proposed in this paper. The accuracy analysis shows that the true posterior mean and covariance calculated by the proposed MSSRCKF can agree accurately with the third-order moment and the second-order moment, respectively. Simulation results show that, in comparison with the conventional spherical simplex-radial cubature Kalman filters that are based on the same degrees, the proposed MSSRCKF can perform superior results from the aspects of filtering accuracy and computational complexity.