车载DR导航的非线性滤波方法研究

针对扩展卡尔曼滤波方法(EKF)用于车载DR导航系统滤波中存在的一些缺点,将一种新的滤波方法—UKF滤波方法用于车载DR导航系统的非线性状态估计中。该滤波方法与EKF方法相比具有容易实现和滤波精度高的特点。通过非线性状态估计UKF方法大大提高了导航系统的精度。为了检验其有效性,将这两种方法分别对车载DR导航系统进行滤波仿真,仿真结果进一步表明UKF方法优于EKF方法,是一种理想的车载DR导航非线性滤波方法。

Study on nonlinear filtering method for land vehicle DR navigation

In view of the problem that there exist some defects when the extended Kalman filter(EKF) is employed in the land vehicl deareckoning (DR) navigation a novel method-unscented Kalman filtering(UKF) is applied in the nonliner state estimation of the land vehicle dead reckoning (DR) navigation. Compared with the EKF, the UKF has the characteristics of easier realization and higher state estimation accuracy. Through nonlinear state estimation, the UKF can improve the accuracy of the DR system greatly. In order to test the validity of the UKF, the two methods are used to estimate states of the land vehicle DR navigation system. Simulation results show that the UKF is superior to the EKF and is an ideal nonlinear filtering method in the land vehicle DR navigation.