控制与信息技术Issue(5)：52-59,8.DOI:10.13889/j.issn.2096-5427.2025.05.007
基于自适应无迹卡尔曼滤波的GNSS/INS组合导航方法研究
Research on GNSS/INS Integrated Navigation Method Based on Adaptive Unscented Kalman Filter
摘要
Abstract
Vehicle-mounted integrated navigation systems suffer from insufficient positioning accuracy in complex urban environments and traditional filtering algorithms with fixed model parameters struggle to adapt to dynamically changing noise.To address these challenges,this paper proposes an adaptive unscented Kalman filter(AUKF)method based on the Sage-Husa algorithm(SH-AUKF)and presents its application in a GNSS/INS integrated navigation system.The proposed method tackles the common problem of filtering accuracy degradation and even divergence under scenarios with strong non-linearity and dynamic changes,such as satellite signal loss,by utilizing the innovation sequence to perform real-time estimation and correction of the process and measurement noise covariance matrices.To systematically verify the effectiveness of this method,typical driving scenarios including expressways,urban roads,and tunnels were designed for real-vehicle comparative experiments.The proposed algorithm was evaluated against the standard Kalman filter(KF),extended Kalman filter(EKF),and unscented Kalman filter(UKF).Results show that the proposed SH-AUKF algorithm demonstrates optimal robustness and positioning accuracy in key scenarios such as tunnel sections with satellite signal loss and urban roads with continuous turns.Compared with the standard UKF,it significantly reduces root mean square errors(RMSE)in positioning.This method provides a more effective and reliable solution for addressing the challenges of vehicle integrated navigation in highly dynamic environments and holds significant practical value for enhancing environmental adaptability in intelligent driving systems.关键词
智能驾驶/组合导航/自适应滤波/无迹卡尔曼滤波/定位精度/跑车试验Key words
intelligent driving/integrated navigation/adaptive filtering/unscented Kalman filter/positioning accuracy/vehicle experiment引用本文复制引用
张琪,刘宁,朱丽璇..基于自适应无迹卡尔曼滤波的GNSS/INS组合导航方法研究[J].控制与信息技术,2025,(5):52-59,8.基金项目
国家自然科学基金项目(62471048) （62471048）
