UKF与EKF在GPS/INS超紧组合导航中的应用比较  

Comparison between Extended and Unscented Kalman Filtering Applied to Ultra-tight GPS/INS Integration

作　　者：段笑菊[1] 薛晓中[1] 

机构地区：[1]南京理工大学,南京210094

出　　处：《火力与指挥控制》2010年第6期60-63,共4页Fire Control & Command Control

基　　金：国家部委基金(514530601052S3301);南京理工大学科研发展基金资助项目(XKF05031)

摘　　要：针对GPS/INS超紧组合特点,基于四元素法建立了系统的非线性状态方程,利用GPS接收机原始伪距测量信息对系统状态进行观测,并将EKF和UKF方法运用到系统进行比较,仿真结果表明UKF在姿态、位置估计上精度要优于EKF。In this paper,according to the characteristics of ultra-tight GPS/INS integration,nonlinear error models about the ultra-tight GPS/INS integrated navigation system are established based on quaternion theory,and the original measurements of pseudo-range is used to observe the system states.Extended and unscented Kalman filtering are used in the system.paper.The simulation results show that the UKF is superior than the EKF in attitude and velocity estimate accuracy.

关 键 词：超紧组合 EKF UKF 非线性 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]