| UKF的改进算法及其在伪卫星定位中的应用 |
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| 作者单位： | 61512部队 北京100088(李雪鹏)，66240部队 北京100042(张幼群，包括) |
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| 摘 要： | 首先介绍了伪卫星导航系统的观测方程和动力学模型方程。然后,分析了基于UT变换的UKF算法,针对该算法存在的问题,结合迭代滤波思想和抗差估计原理提出了一种新的抗差UKF算法。并与EKF和UKF算法进行了比较。计算结果表明,该算法不仅可以提高滤波器的精度,而且能够更有效地控制观测异常对导航解的影响,使导航解更能反映导航系统的真实情况。
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| 关 键 词： | UT变换 Unscented Kalman滤波 抗差估计 伪卫星 |
Improved UKF Algorithm for Pseudolite Positioning System |
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| Authors: | LI Xue-peng ZHANG You-qun BAO Kuo |
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| Institution: | LI Xue-peng1,ZHANG You-qun2,BAO Kuo2 |
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| Abstract: | Firstly,the nonlinear observation model and the dynamic model of Pseudolite navigation system were introduced.Aiming at the shortcomings of UKF algorithm,a new improved UKF algorithm,based on the principle of iterated filtering and equivalent covariance matrix of observational vector,was put forward.It was shown,by derivations and calculations,that the improved UKF algorithm could not only improve the filtering estimation accuracy,but also control the influences of measurement outliers. |
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| Keywords: | unscented translation UKF robust estimation pseudolite |
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