| UKF在GPS/INS组合导航系统中的应用 |
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| 引用本文： | 毛克诚,孙付平,李海丰.UKF在GPS/INS组合导航系统中的应用[J].测绘学院学报,2007(3). |
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| 作者姓名： | 毛克诚 孙付平 李海丰 |
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| 作者单位： | 信息工程大学测绘学院 河南郑州450052 |
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| 摘 要： | 扩展卡尔曼滤波(EKF)是GPS/INS组合导航系统工程实现中常用的一种数据融合方式。但EKF线性化误差在一定程度上影响了GPS/INS组合导航系统精度的提高。Unscented卡尔曼滤波器(UKF)是一种非线性滤波器,它能有效地减小线性化误差对GPS/INS组合导航系统精度的影响。基于四元数法建立了GPS/INS组合导航系统的非线性误差方程模型;最后通过数字仿真验证了UKF组合导航系统应用中的性能。
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| 关 键 词： | Unscented卡尔曼滤波器(UKF) 扩展卡尔滤波(EKF) 非线性 GPS/INS组合 UT |
On Unscented Kalman Filtering in GPS/INS Integrated Navigation System |
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| MAO Ke-cheng,SUN Fu-ping,LI Hai-feng.On Unscented Kalman Filtering in GPS/INS Integrated Navigation System[J].Journal of Institute of Surveying and Mapping,2007(3). |
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| Authors: | MAO Ke-cheng SUN Fu-ping LI Hai-feng |
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| Abstract: | Extended Kalman filtering has been used widely in GPS and inertial integrated navigation,but its linear errors affects integrated navigation system's precision and stabilization.This paper directly studies one of nonlinear filtering theories,unscented Kalman filtering theory.Based on quaternion theory,nonlinear error models about GPS/INS integrated navigation system are built up,which don't rely on the hypothesis of little error attitude angles.On the basis of the semodels,unscented Kalman filtering is used to GPS/INS integrated navigation system,and the performance between unscented Kalman filtering and extended Kalman filtering is compared in this paper. |
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| Keywords: | unscented Kalman filter(UKF) exlended Kalman filter(EKF) nonlinear system GPS/INS UT |
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