自适应序贯UKF的INS/BDS紧组合导航算法  

INS/BDS Tight Combination Navigation Algorithm of Adaptive Sequential UKF

作　　者：王力[1] 杨忠辉 WANG Li;YANG Zhong-hui(School of Vocational and Technical Engineering,Civil Aviation University of China,Tianjin 300300,China;School of Electronic Information and Automation,Civil Aviation University of China,Tianjin 300300,China)

机构地区：[1]中国民航大学职业技术学院,天津300300 [2]中国民航大学电子信息与自动化学院,天津300300

出　　处：《计算机仿真》2019年第12期228-232,340,共6页Computer Simulation

基　　金：国家自然科学基金项目(U1733119);国家自然科学基金项目(批准号:U1333111);中央高校基本科研业务费项目(3122017018);中央高校基本科研业务费(3122017107)

摘　　要：针对标准无迹卡尔曼滤波(UKF)算法因自适应能力较弱导致滤波算法精度低的问题,提出一种自适应序贯UKF滤波算法。相比于传统的UKF算法,改进的UKF算法在对sigma样本点的获取上进行改进,加入比例系数替代原有的固定值采样,虽对计算速度略有影响但有效提高了滤波精度。同时通过序贯处理的方法进行量测更新,降低了计算难度和复杂性,提高更新速度,在两种方法相互配合的前提下,改进的UKF滤波算法在可接受的滤波时间内提高滤波精度,有效的得到精确的导航信息。通过INS/BDS紧组合导航系统进行仿真验证,将实验结果与标准UKF算法在组合导航中的位置、速度特性进行比较,结果表明,改进的UKF滤波算法的滤波性能对比与标准UKF算法有着显著的优势,最终有效的提高组合导航的性能。Aiming at the problem that the standard unscented Kalman filter(UKF)algorithm has weak adaptive force,resulting in low filtering accuracy,an adaptive sequential UKF filtering algorithm is proposed in the paper.Compared with the traditional UKF algorithm,the improved UKF algorithm improves the sampling of sigma sample points,and the proportional coefficient is used instead of the original fixed-value sampling.Although it has a slight influence on the calculation speed,it effectively improves the filtering accuracy.Sequential processing methods are used to update the measurement,reducing the computational difficulty and complexity,and improving the update rate.Under the premise that the two methods cooperate with each other,the improved UKF filtering algorithm can improve the filtering accuracy within an acceptable filtering time and gets accurate navigation information.The INS/BDS tightly integrated navigation system was used for simulation verification.The experimental results were compared with the position and velocity characteristics of the standard UKF algorithm in the integrated navigation.The results show that the improved UKF filtering algorithm has significant advantages in filtering performance comparison with the standard UKF algorithm.Finally,the performance of integrated navigation was effectively improved.

关 键 词：无迹卡尔曼滤波 比例系数 序贯处理 紧组合导航系统 

分 类 号：TN9[电子电信—信息与通信工程]