Considering the great effects the measurement system errors of sensors have on satellite autonomous navigation, we study the filter algorithm for the navigation system with constant system error in this paper to improve the navigation precision. this paper improves conventional CKF algorithm and proposes an adaptive CKF filters based on model compensation, the state and bias estimation is performed separately using the CKF filters, and then the state variables are updated using the estimated bias. Finally, we verify the feasibility of the improved algorithm by simulation experiment, the simulation results show that the algorithm can improve the navigation accuracy.
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