| 简化UKF算法在SINS／GPS组合导航中的应用 |
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| 引用本文： | 李伯龙,程向红,周菊华.简化UKF算法在SINS／GPS组合导航中的应用[J].舰船电子工程,2009,29(9):67-71. |
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| 作者姓名： | 李伯龙 程向红 周菊华 |
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| 作者单位： | 东南大学仪器科学与工程学院,南京,210096 |
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| 摘 要： | 针对SINS／GPS组合导航系统的特点，建立了系统的非线性误差模型。根据系统状态方程为非线性而观测方程为线性的特点，将一种简化的UKF方法（Rao-Blackwellisation Additive Unscented Kalman Filter，RBAUKF）用于SINS／GPS组合导航系统中，RBAUKF采用较少的采样点数目和简化的更新算法，降低了计算复杂度。最后，在机动条件下，进行了SINS／GPS组合导航实验仿真。仿真结果表明，RBAUKF相比EKF具有更高的滤波精度，更适合在SINS／GPS组合导航系统中应用。
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| 关 键 词： | SINS/GPS组合导航 非线性滤波 UKF 简化UKF |
Application of RBAUKF Algorithm to SINS/GPS Integrated Navigation |
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| Li Bolong,Cheng Xianghong,Zhou Juhua.Application of RBAUKF Algorithm to SINS/GPS Integrated Navigation[J].Ship Electronic Engineering,2009,29(9):67-71. |
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| Authors: | Li Bolong Cheng Xianghong Zhou Juhua |
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| Institution: | School of Instrument Science and Engineering;Southeast University;Nanjing 210096 |
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| Abstract: | According to the characteristics of SINS/GPS integrated navigation system,the systematic nonlinear error model is established.The state equation of system is nonlinear while the observing equation of system is linear,thus RBAUKF(Rao-Blackwellisation Additive Unscented Kalman Filter) is applied to SINS/GPS integrated navigation system,RBAUKF uses less sampling points and simplifies update algorithms to reduce the calculation complexity.Finally,SINS/GPS integrated navigation simulation experiment is processed... |
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| Keywords: | SINS/GPS integrated navigation nonlinear filter UKF RBAUKF |
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