| 基于SUKF滤波的INS/DVL组合导航研究 |
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| 引用本文： | 孙睿智,葛德宏,高启孝.基于SUKF滤波的INS/DVL组合导航研究[J].中国舰船研究,2008,3(6). |
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| 作者姓名： | 孙睿智 葛德宏 高启孝 |
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| 作者单位： | 1. 中国舰船研究设计中心,军事代表室,湖北,武汉,430064
2. 海军工程大学,电气与信息工程学院,湖北,武汉,430033 |
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| 基金项目： | 国家自然科学基金资助
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| 摘 要： | 惯性导航系统(INS)长时间自主工作存在误差积累,采用INS与多普勒速度计程仪(DVL)组合的方案导航.针对组合导航系统状态维数较高,采用算法实现和估计精度优于传统扩展卡尔曼滤波的尺度变换模式的UKF(SUKF)方法.仿真结果表明,采用SUKF滤波方法实现INS/DVL组合导航是可行的.
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| 关 键 词： | 惯性导航系统(INS) 多普勒速度计程仪(DVL) 仿真 |
INS/DVL Integrated Navigation Based on the Scaled UKF |
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| Sun Rui-zhi,Ge De-hong,Gao Qi-xiao.INS/DVL Integrated Navigation Based on the Scaled UKF[J].Chinese Journal of Ship Research,2008,3(6). |
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| Authors: | Sun Rui-zhi Ge De-hong Gao Qi-xiao |
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| Institution: | Sun Rui-zhi1 Ge De-hong2 Gao Qi-xiao2 1 Military Representative Office in China Ship Development , Design Center,Wuhan 430064,China2 College of Electrical & Information Eng.,Naval Univ.of Engineering,Wuhan 430033,China |
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| Abstract: | This paper introduces the application of INS/DVL integrated navigation technology.The Scaled UKF(SUKF)is superior to the EKF in algorithm coding and estimation precision.It is a good method to deal with the state with high dimension.The simulation results show that the method with SUKF of INS/DVL integrated navigation is feasible. |
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| Keywords: | inertial navigation system(INS) doppler velocity log(DVL) simulation |
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