| 自适应UKF算法及其在GPS/INS组合导航中的应用 |
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| 引用本文： | 高为广,何海波,陈金平. 自适应UKF算法及其在GPS/INS组合导航中的应用[J]. 北京理工大学学报, 2008, 28(6): 505-509 |
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| 作者姓名： | 高为广 何海波 陈金平 |
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| 作者单位： | 1. 信息工程大学,测绘学院,河南,郑州,450052;北京环球信息应用开发中心,北京,100094
2. 北京环球信息应用开发中心,北京,100094 |
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| 基金项目： | 国家自然科学基金 , 国家高技术研究发展计划(863计划) , 信息工程大学博士生创新基金 |
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| 摘 要： | 提出了一种自适应无迹Kalman滤波(UKF)算法.针对UKF受初始值误差和动力学模型异常扰动误差影响的问题,将自适应估计原理引入到UKF算法,将动力学模型信息对导航解的贡献进行合理调整.计算结果表明,在GPS/INS松组合导航系统数据处理时,UKF算法略优于扩展Kalman滤波(EKF),自适应UKF算法优于自适应EKF算法,自适应UKF算法能够很好地抑制动力学模型误差对导航解的影响,进一步提高导航解的精度和可靠性.
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| 关 键 词： | 扩展Kalman滤波 无迹Kalman滤波 自适应估计 GPS/INS组合导航 |
| 收稿时间： | 2008-01-03 |
An Adaptive UKF Algorithm and Its Application for GPS/INS Integrated Navigation System |
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| GAO Wei-guang,HE Hai-bo and CHEN Jin-ping. An Adaptive UKF Algorithm and Its Application for GPS/INS Integrated Navigation System[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2008, 28(6): 505-509 |
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| Authors: | GAO Wei-guang HE Hai-bo CHEN Jin-ping |
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| Affiliation: | Institute of Surveying and Mapping, University of Information Engineering, Zhengzhou, Henan 450052, China;Beijing Huanqiu Information Developing Center, Beijing 100094, China;Beijing Huanqiu Information Developing Center, Beijing 100094, China;Beijing Huanqiu Information Developing Center, Beijing 100094, China |
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| Abstract: | A new adaptive unscented Kalman filter(UKF) algorithm is set up.In order to overcome the shortcomings of UKF,such as obvious influences from the values of initial parameters,the uncertainness of systemic noises and the influences of vehicle disturbances in movements,the adaptive estimation principle is applied for UKF.It is shown,by comparison and analysis that the UKF algorithm is better than extended Kalman filter(EKF) and the adaptive EKF is superior to UKF,and the adaptive UKF is superior to all algorithms in the application of GPS/INS integrated navigation systems. |
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| Keywords: | extended Kalman filter(EKF) unscented Kalman filter(UKF) adaptive estimation GPS/INS integrated navigation |
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