计算机工程与应用2012，Vol.48Issue(33)：153-156,216,5.DOI:10.3778/j.issn.1002-8331.1208-0493
抗野值性能的无迹卡尔曼滤波算法的研究
Algorithm of outlier rejecting unscented Kalman filter
摘要
Abstract
The innovation of the Unscented Kalman Filter(UKF) is often damaged because of the presence of outliers in the dynamic positioning, which make the filter no longer accurate or even divergent. To solve this problem, the principle of the UKF algorithm and the effect of outliers on UKF algorithm have been analyzed. An outlier rejecting UKF algorithm has been proposed. This algorithm combines the UKF algorithm with the eliminate of outliers, adjusts the gain factor or performs outliers rejecting calculation according to monitoring innovation, such that the UKF algorithm still be optimal when there are outliers in measurement. The result of simulation demonstrates that the algorithm can eliminate the bad effect of outliers on filter effectively and improve the measurement accuracy.关键词
定位/无迹卡尔曼滤波/野值/新息/增益/精度Key words
positioning/ Unscented Kalman Filter (UKF)/ outlier/ innovation/ gain/ accuracy分类
信息技术与安全科学引用本文复制引用
张怡,廉晶晶,黄文刚..抗野值性能的无迹卡尔曼滤波算法的研究[J].计算机工程与应用,2012,48(33):153-156,216,5.基金项目
国家自然科学基金(No.60672184) （No.60672184）
航空科学基金(No.20085553016) （No.20085553016）
西北工业大学研究生创业种子基金(No.z2012089). （No.z2012089）
