| UKF在惯性/重力组合导航中的应用 |
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| 引用本文： | 孙岚,吴晓平,刘雁春,刘金胜.UKF在惯性/重力组合导航中的应用[J].测绘学院学报,2007(5). |
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| 作者姓名： | 孙岚 吴晓平 刘雁春 刘金胜 |
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| 作者单位： | 海军大连舰艇学院 辽宁大连116018(孙岚，刘雁春)，信息工程大学测绘学院 河南郑州450052(吴晓平，刘金胜) |
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| 摘 要： | 将UKF(Unscented Kalman Filter)方法用于惯性/重力组合导航系统。UKF方法设计了少量的呈高斯分布的σ点,在每个更新过程中,σ点随着非线性状态方程和测量方程传播,从而获得滤波值及较高的计算精度,而且避免了对非线性方程的线性化过程。仿真结果表明:UKF方法比传统卡尔曼滤波及其改进的滤波模型都有更高的估计精度,并能有效的克服非线性严重时出现的滤波发散问题。
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| 关 键 词： | 惯性/重力组合导航 σ点 采样卡尔曼滤波(UKF) |
Unscented Kalman Filter Application in Gravity/Inertial Integrated Navigation |
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| SUN Lan,WU Xiao-ping,LIU Yan-chun,LIU Jin-sheng.Unscented Kalman Filter Application in Gravity/Inertial Integrated Navigation[J].Journal of Institute of Surveying and Mapping,2007(5). |
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| Authors: | SUN Lan WU Xiao-ping LIU Yan-chun LIU Jin-sheng |
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| Institution: | SUN Lan1,WU Xiao-ping2,LIU Yan-chun1,LIU Jin-sheng2 |
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| Abstract: | This paper introduced Unscented Kalman Filter into gravity/inertial integrated navigation system.In Unscented Kalman Filtering,the updating of the filtering based on the nonlinear state space equation was realized by designing a few sigma points and calculating the propagation of these sigma points via nonlinear functions.The simulation results show that the UKF outperforms the standard KF and its improved model in accuracy and divergence performance. |
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| Keywords: | gravity/inertial integrated navigation sigma point Unscented Kalman Filtering |
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