全球定位/惯性导航组合导航改进UKF算法  

Improved UKF algorithm for global positioning/inertial navigation integrated system

作　　者：韩博 胡黄水[1] 曹学瑶 王宏志 HAN Bo;HU Huangshui;CAO Xueyao;WANG Hongzhi(School of Computer Science & Engineering, Changchun University of Technology, Changchun 130012, China)

机构地区：[1]长春工业大学计算机科学与工程学院,吉林长春130012

出　　处：《长春工业大学学报》2021年第6期565-572,共8页Journal of Changchun University of Technology

基　　金：吉林省科技计划项目(20200201009JC)。

摘　　要：引入自适应因子,在系统滤波过程中判断系统滤波是否处于正常状态,选择性动态修正的滤波参数以提高系统滤波抗干扰能力,并进行了仿真验证。本方法与UKF相比,在位置的三个方向上,误差均值分别降低了30.66%、21.58%、23.36%;在速度的三个方向上,误差均值分别降低了4.76%、11.01%、20%。与14-IUKF相比,在位置的三个方向上,误差均值分别降低了16.42%、11.57%、16.33%;在速度的三个方向上,误差均值分别降低了2.25%、3.96%、11.09%。In the process of filtering,an adaptive factor is introduced to determine if the filtering is in normal state,and the parameters are dynamically modified to improve the anti-interference ability of the system.The method is simulated and compared with both the UKF system and 14-IUKF.The results indicate:the average error is reduced by 30.66%,21.58%and 23.36%respectively in three directions of position,and by 4.76%,11.01%and 20%in the three directions of velocity when it is compared with UKF;While being compared with 14-IUKF,the average error is reduced by 16.42%,11.57%and 16.33%in three directions,and by 2.25%,3.96%and 11.09%in the three directions of velocity.

关 键 词：组合导航 自适应 无迹卡尔曼滤波 GPS/INS MATLAB 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计] TP391.9[自动化与计算机技术—计算机应用技术]