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UKF方法在惯性导航系统初始对准中的应用研究
引用本文:张卫明,张继惟,范子杰,钟山. UKF方法在惯性导航系统初始对准中的应用研究[J]. 系统工程与电子技术, 2007, 29(4): 589-592
作者姓名:张卫明  张继惟  范子杰  钟山
作者单位:1. 首钢总公司,北京,100041
2. 清华大学汽车工程系,北京100084
3. 中国航天科工集团公司第二研究院,北京100854
摘    要:针对初始对准的精度直接影响系统工作性能问题,在初始对准中引入Unscented卡尔曼滤波算法(UKF)。Unscented卡尔曼滤波算法没有把非线性系统近似为线性系统,而是使用确定性样本的方法处理非线性问题,使采样点的均值和方差完全符合实际的非线性系统的均值和方差,解决了惯性导航系统正常工作的基本条件。仿真结果显示,使用Unscented卡尔曼滤波时惯性导航系统初始对准的精度和稳定性都好于普遍使用的广义卡尔曼滤波方法。

关 键 词:惯性导航系统  非线性滤波方法  卡尔曼滤波  初始对准
文章编号:1001-506X(2007)04-0589-04
修稿时间:2006-01-06

Research of unscented Kalman filter in initial alignment of inertial navigation systems
ZHANG Wei-ming,ZHANG Ji-wei,FAN Zi-jie,ZHONG Shan. Research of unscented Kalman filter in initial alignment of inertial navigation systems[J]. System Engineering and Electronics, 2007, 29(4): 589-592
Authors:ZHANG Wei-ming  ZHANG Ji-wei  FAN Zi-jie  ZHONG Shan
Abstract:In view of the performance of inertial navigation systems is directly influenced by the accuracy of initial alignment,the unscented Kalman filter(UKF) algorithm is drawn into initial alignment.UKF does not regard nonlinear systems as linearization,but that it takes a deterministic sampling approach to the nonlinear systems.Thus the sample points completely capture the true mean and covariance of the nonlinear systems,and the postulate that can ensure a inertial navigation system running normally is solved.Simulation results show that UKF can yield the better performance of stability and higher accuracy than EKF.
Keywords:inertial navigation system  nonlinear filter method  Kalman filter  initial alignment
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