测绘科学技术学报Issue(5)：450-453,458,5.DOI:10.3969/j.issn.1673-6338.2014.05.002
改进的UKF在GP S/INS组合导航中的应用
An Improved Unscented Kalman Filter and Its Application to the GPS/INS Integrated Navigation System
刘庆元 1郝立良 1黄书捷 1朱山昱1
作者信息
- 1. 中南大学 地球科学与信息物理学院，湖南 长沙 410083
- 折叠
摘要
Abstract
In the GPS/INS integrated navigation, the traditional unscented Kalman filter ( UKF) is unable to meet the real-time ability because of the large amount of calculation. What’ s more, the precision and stability of the tra-ditional unscented Kalman filter algorithm are susceptible to the effects of dynamic disturbance. To solve the prob-lem, the strategy of minimal skew simplex sampling can reduce the calculated amount and improve the accuracy. Adjusting the process noise adaptively can reduce the influence of the abnormal dynamic disturbance error on the accuracy and stability of UKF. An improved UKF was got from incorporating the two improved methods. The simu-lation experiment data analysis show that the precision of improved UKF integrated navigation algorithm is better than that of the UKF significantly.关键词
无迹卡尔曼滤波/最小偏度单形采样/采样策略/改进无迹卡尔曼滤波/组合导航Key words
unscented Kalman filter ( UKF )/minimum skewness simplex sampling/sampling strategy/modified UKF/integrated navigation分类
天文与地球科学引用本文复制引用
刘庆元,郝立良,黄书捷,朱山昱..改进的UKF在GP S/INS组合导航中的应用[J].测绘科学技术学报,2014,(5):450-453,458,5.
