Seventh-degree Spherical Simplex-Radial Cubature Kalman Filter

This article presents a high-degree cubature Kalman filter based on the seventh-degree spherical simplex-radial rule, which used for improve the nonlinear filtering accuracy of traditional lower-degree cubature Kalman filter. The Gaussian weighted integral of nonlinear function was decomposed into spherical integral and radial integral. Calculate the spherical integral through the seventh-degree spherical simplex rule that based on the regular simplex transformation group, and the moment-matching method was used to the radial integral, then the seventh-degree rule is derived. The simulation shows that this algorithm has a higher the estimation accuracy than the traditional algorithm of third-degree and fifth -degree and has better stability. This algorithm will have a good prospect and application value.