摘要
提出了一种基于UKF(Unscented Kalman Filter)的机载无源定位算法,并结合应用背景,对系统模型以及通常的UKF算法作了相应的改进。该算法对量测模型非线性问题采用UKF予以解决,克服了EKF(Extended Kalman Filter)中引入的较大线性化误差对性能的影响。与基于EKF的定位算法相比,本文提出的算法滤波性能更好,对初始估计误差不敏感,并且算法不用计算雅可比或黑赛矩阵,更容易实现。仿真结果验证了提出算法的优越性。
A passive location algorithm for airborne observer based on UKF is proposed. Moreover, the system model and general UKF algorithm are modifed according to specific application. Since the problem of non-linearity of observation model is solved by UKF, the effect of linearzation error in EKF is eliminated in the algorithm. By comparison with the algorithm based on EKF, this algorithm has better performance than that of the algorithm based on EKF, also it is more insensitive to initial estimation error and is easy to implement. Simulation shows the superiority of the algorithm.
出处
《航天控制》
CSCD
北大核心
2005年第5期13-16,41,共5页
Aerospace Control
