无线电工程2025，Vol.55Issue(3)：566-571,6.DOI:10.3969/j.issn.1003-3106.2025.03.013
基于决策树和SVD的INS/GPS/UWB联邦卡尔曼滤波算法
An INS/GPS/UWB Federal Kalman Filter Algorithm Based on Decision-making Tree and SVD
时潮 1孙飞 1梅子杰 1罗晨 1关翔中 1刘乔1
作者信息
摘要
Abstract
To deal with the problem of dynamic tracking and autonomous navigation for Unmanned Aerial Vehicle(UAV)that track Unmanned Ground Vehicle(UGV),the classification criteria about information source is established by decision-making tree,and a federal Kalman filter integrated navigation system based on Singular Value Decomposition(SVD)is established.Global Position System(GPS)and Ultra Wide-Band(UWB)technology are used to provide in real time the information about the position of the UAV relative to the UGV and correct the errors of the Inertial Navigation System(INS).Simulation results show that the UAV can obtain reliable navigation information by this modified federal Kalman filter algorithm even when the UWB or GPS signal is continuously interrupted for a period and the INS/GPS/UWB navigation system greatly improves the positioning accuracy and fault tolerance of the system.关键词
决策树/修正补偿惯性导航系统/全球定位系统/超宽带技术/联邦卡尔曼滤波/奇异值分解Key words
decision-making tree/INS/GPS/UWB technology/federal Kalman filter/SVD分类
信息技术与安全科学引用本文复制引用
时潮,孙飞,梅子杰,罗晨,关翔中,刘乔..基于决策树和SVD的INS/GPS/UWB联邦卡尔曼滤波算法[J].无线电工程,2025,55(3):566-571,6.
