UKF与EKF在导航定位中的对比研究  

A Comparative Study of UKF and EKF in Navigation and Positioning

作　　者：刘燕[1] 张健[1] 肖庆高[1] 霍杰睿 LIU Yan;ZHANG Jian;XIAO Qinggao;HUO Jierui(College of Information Engineering,Northwestern Polytechnical University Ming De College,Xi'an 710124,China)

机构地区：[1]西北工业大学明德学院信息工程学院,西安710124

出　　处：《微处理机》2023年第4期30-33,共4页Microprocessors

摘　　要：为深入研究UKF与EKF两种滤波算法在导航定位应用中的表现,基于对扩展卡尔曼滤波与无迹卡尔曼滤波的原理的介绍,建立起一种导航单目标定位模型,利用无迹卡尔曼滤波方法进行目标定位的仿真并展开分析。通过对目标定位结果与其真实运动轨迹的对比,验证UKF轨迹与真实轨迹的重合情况,将位置估计的平均偏差控制在2m以内,在整个目标定位过程中未发生目标跟踪丢失情况。将仿真得到的结果与真实轨迹进行对比并计算位置估计偏差,以此论证两种算法在性能效果上的优劣。In order to deeply study the performance of UKF and EKF algorithms in navigation and positioning applications,based on the introduction of the principles of extended Kalman filtering and unscented Kalman filtering,a navigation single target positioning model is established,and the unscented Kalman filtering method is used to simulate and analyze the target positioning.By comparing the results of target positioning with its real trajectory,the coincidence of UKF trajectory and real trajectory is verified,and the average deviation of position estimation is controlled within 2 m,and no target tracking loss occurs during the whole target positioning process.The simulation results are compared with the real trajectory and the deviation of position estimation is calculated to demonstrate the advantages and disadvantages of the two algorithms in performance.

关 键 词：无迹卡尔曼滤波 扩展卡尔曼滤波 目标定位 

分 类 号：TN713[电子电信—电路与系统] TN967