应用UKF顺序滤波的组合导航研究  

Research on integrated navigation using UKF order filtering

作　　者：史俊莉[1] 

机构地区：[1]河南工业职业技术学院建筑工程系,河南南阳473000

出　　处：《郑州轻工业学院学报（自然科学版）》2014年第5期78-82,共5页Journal of Zhengzhou University of Light Industry:Natural Science

摘　　要：针对组合导航中传统卡尔曼滤波(KF)需要计算雅可比矩阵,当模型过于复杂或者雅可比矩阵无法求取时就很难处理的问题,在UKF滤波方法的基础上,提出了UKF顺序滤波的方法.该方法应用UKF滤波,兼顾GPS信息及惯导信息,逐次利用新信息来更正估计值.将该方法用于船用组合导航进行了仿真,仿真结果证明了算法的有效性.Kalman filtering requires the calculation of Jacobian matrix in integrated navigation,when the model is too complex or Jacobian matrix cannot be obtained it is difficult to deal with the issue,the UKF sequential filtering method was proposed. To solve these problems,the method used the UKF filter,the GPS information and navigation information,successively using new information to make correction estimates.The method was used in ship navigation,and the simulation results proved the effectiveness of the algorithm.

关 键 词：组合导航 惯性导航 顺序滤波 卡尔曼滤波 UKF滤波 最优估计 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]