计算机与数字工程Issue(2)：252-255,4.DOI:10.3969/j.issn1672-9722.2015.02.023
UKF 在 INS/GPS 组合导航直接法滤波中的应用
Application of UKF in INS/GPS Direct Kalman Filter
摘要
Abstract
The INS/GPS integrated navigation system direct filter is using the navigation parameters which the naviga‐tion system outputs(position ,velocity and so on) directly as the state ,so the system equation is nonlinear .UKF(Unscented Kalman Filter) is a kind of nonlinear Kalman Filter based on UT transform .It can avoid the nonlinear‐state‐equation prob‐lem .Use UKF ,take the direct method in the INS/GPS integrated navigation system and compare with the EKF method ,the experimental results show that the UKF method can solve the system state equation of nonlinear problem better ,and obtain higher accuracy of navigation .关键词
INS/GPS 组合导航/直接法/UKF/EKFKey words
INS/GPS integrated navigation/direct filter/UKF/EKF分类
交通工程引用本文复制引用
胡建宇,侯书铭..UKF 在 INS/GPS 组合导航直接法滤波中的应用[J].计算机与数字工程,2015,(2):252-255,4.
