摘要
对于MIMU/GPS组合导航系统,采用传统UKF进行滤波时,其Sigma点集的MSE会随系统维数的增大而不断增大,导致估计精度越来越差,尤其是姿态误差角的估计会出现较大偏差。针对这一问题,提出了一种基于超立方体代表点的改进UKF算法并将其应用于低成本MIMU/GPS组合导航系统。仿真结果表明,改进的UKF算法对于高维强非线性组合导航系统的估计精度优于传统UKF,更适用于大角度姿态误差的准确估计。
The nonlinear error-quaternion model was established for MIMU/GPS integrated navigation system to achieve accurate and reliable navigation solution a kind of improved UKF algorithm based on hypercube points was proposed and applied to low-cost MIMU/GPS integrated navigation system to solve the problems of the mean squared error （MSE） of Sigma set and attitude errors of integrated navigation system increasing with the dimension of state increasing in traditional unscented Kalman filter （UKF）. The simulation results show that the estimate accuracy of improved algorithm exceed traditional UKF for high-dimensional strongly nonlinear integrated navigation system, more applicable to accurate estimates of large attitude errors.
出处
《弹箭与制导学报》
CSCD
北大核心
2009年第4期8-12,共5页
Journal of Projectiles,Rockets,Missiles and Guidance
基金
航天支撑技术基金资助
