简化UKF算法在SINS/GPS组合导航中的应用  

Application of RBAUKF Algorithm to SINS/GPS Integrated Navigation

作　　者：李伯龙[1] 程向红[1] 周菊华[1] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096

出　　处：《舰船电子工程》2009年第9期67-71,共5页Ship Electronic Engineering

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。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 in maneuver case, and the results show that RBAUKF has a higher accuracy and is more suitable to be applied to SINS/GPS integrated navigation than EKF.

关 键 词：SINS/GPS组合导航 非线性滤波 UKF 简化UKF 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]