摘要
扩展卡尔曼滤波(EKF)是GPS/INS组合导航系统工程实现中常用的一种数据融合方式。但EKF线性化误差在一定程度上影响了GPS/INS组合导航系统精度的提高。Unscented卡尔曼滤波器(UKF)是一种非线性滤波器,它能有效地减小线性化误差对GPS/INS组合导航系统精度的影响。基于四元数法建立了GPS/INS组合导航系统的非线性误差方程模型;最后通过数字仿真验证了UKF组合导航系统应用中的性能。
Extended Kalman filtering has been used widely in GPS and inertial integrated navigation, but its linear errors affects integrated navigation system＇ s precision and stabilization. This paper directly studies one of nonlinear filtering theories, unscented Kalman filtering theory. Based on quaternion theory, nonlinear error models about GPS/ INS integrated navigation system are built up, which don＇ t rely on the hypothesis of little error attitude angles. On the basis of the semodels, unscented Kalman filtering is used to GPS/INS integrated navigation system, and the performance between unscented Kalman filtering and extended Kalman filtering is compared in this paper.
出处
《测绘科学技术学报》
北大核心
2007年第3期200-202,206,共4页
Journal of Geomatics Science and Technology
