摘要
针对车辆全球定位系统与航位推算结合的组合定位系统,建立了系统的模型。由于观测方程的非线性,采用UKF滤波方法,避免了EKF方法的线性化近似过程,提高了算法的收敛速度和车辆定位精度。仿真结果表明:UKF比EKF具有更高的估计精度。
In vehicle integrated positioning system, considering the nonlinear measurement equation, the Unscented Kalman Filtering is adopted to estimate the vehicle＇s position. Comparison to the Extended Kalman Filtering, the error of EKF caused by linearization is avoided, so the arithmetic convalescence is far quicker and the positioning precision is improved. The simulation resuhs show that the estimation precision of UKF is much greater than that of EKF.
出处
《微计算机信息》
北大核心
2007年第36期228-229,276,共3页
Control & Automation
基金
北京市自然科学基金项目(4062009)---卫星有效载荷高速总线通信研究
北京市高校中青年骨干教师基金项目(075313104)--机动目标定位与跟踪
