GNSS/SINS组合导航系统的自适应UKF算法  被引量:8

Adaptive UKF Algorithm for GNSS/SINS Integrated Navigation System

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作  者:荆蕾[1] 孙炜玮 乔玉新[1] 刘成铭 JING Lei;SUN Weiwei;QIAO Yuxin;LIU Chengming(College of Engineering,Yantai Nanshan University,12 Daxue Road,Longkou 265713,China;Naval Aeronautical University,Yantai 264001,China;Shandong Donghai Thermal Power Co Ltd,Donghai Industrial Park,Longkou 265713,China)

机构地区:[1]烟台南山学院工学院,山东省龙口市265713 [2]海军航空大学,山东省烟台市264001 [3]山东东海热电有限公司,山东省龙口市265713

出  处:《大地测量与地球动力学》2023年第3期255-258,281,共5页Journal of Geodesy and Geodynamics

基  金:国家自然科学基金(60874112);山东省自然科学基金(2016ZRA06068)。

摘  要:针对基于无迹卡尔曼滤波(unscented Kalman filter, UKF)算法的GNSS/SINS组合导航系统缺乏对量测噪声异常的自适应调节能力,提出一种GNSS/SINS组合导航系统的自适应UKF算法。首先对GNSS/SINS组合导航系统进行非线性滤波建模;然后基于变分贝叶斯原理,在UKF算法的时间更新与量测更新过程中引入量测噪声方差估计模型,得到自适应UKF算法;最后对GNSS/SINS组合导航系统进行仿真验证。结果表明,本文算法能够对量测噪声方差的突变或缓变进行实时、准确的跟踪,相比于常规UKF算法,可明显提高组合导航系统的精度。This paper proposes an adaptive UKF algorithm for GNSS/SINS integrated navigation system, aiming at the lack of adaptive adjustment ability of UKF algorithm to measurement noise anomalies. Firstly, this paper carries out the nonlinear modeling of GNSS/SINS integrated navigation system. Then, based on the variational Bayesian principle, the prediction model of measurement noise variance is introduced in the process of time update and measurement update of UKF algorithm. Finally, the GNSS/SINS integrated navigation system based on this adaptive UKF algorithm is simulated and verified. The results show that the proposed algorithm can accurately track the sudden change or slow change of the measurement noise variance in real time, and obviously improve the accuracy of the integrated navigation system compared with the classical UKF algorithm.

关 键 词:变分贝叶斯 自适应UKF 量测噪声均方差 组合导航系统 

分 类 号:P228[天文地球—大地测量学与测量工程]

 

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