EKF和UKF在非线性组合导航系统中的对比研究  

Comparison of EKF and UKF Applied in Nonlinear Navigation System

作　　者：吴春光[1] 李双明[1] 潘玉纯[1] 

机构地区：[1]92941部队,葫芦岛125000

出　　处：《长春理工大学学报（自然科学版）》2016年第2期82-85,共4页Journal of Changchun University of Science and Technology(Natural Science Edition)

摘　　要：采用组合导航系统在对目标的位置、航向进行测量时,其状态模型和观测模型中存在非线性问题,采用基于EKF和UKF的非线性滤波算法以改善传统Kalman滤波的估计精度,并保证算法收敛性。通过建立组合导航的状态方程和量测方程,分别采用EKF和UKF对状态方程中的非线性部分进行离散化,仿真实验结果表明,采用基于UKF的非线性导航算法能有效提高导航位置精度和系统稳定性。For realizing the real-timemeasurement of the object on position or heading, and achieving real-time data, the nonlinear integrated navigation system based on EKF and UKF was used instead of the Kalman filter. We dis-cussed the working principle and system composition, then represented system model and analyzed the application of EKF and UKF. The experimental results indicate that using nonlinear integrated navigationsystem based on UKF can ef-fectively improve the navigation accuracy and system stability.

关 键 词：EKF UKF 组合导航 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]