基于UKF的GPS/SINS伪距(伪距率)组合导航系统设计

Design of GPS/SINS pseudo-range(pseudo-range rate) integrated navigation system based on UKF

采用位置、速度组合的GPS/SINS组合导航系统由于GPS各量测量之间的相关性,影响了组合导航的整体精度。为了提高组合导航的精度和可靠性,采用了直接利用GPS接收机原始测量信息伪距、伪距率的组合方式。UKF(Unscented Kalman Filter)是针对非线性模型的滤波方法,它避免了对非线性方程线性化的过程,具有较高的精度和较好的鲁棒性。将UKF滤波方法应用于伪距、伪距率的组合导航系统中,并将UKF与卡尔曼滤波和自适应滤波方法进行了仿真比较研究。实验结果表明,UKF位置、航向估计的精度都要优于卡尔曼滤波和自适应滤波,使整个导航系统具有更高的精度和可靠性。

The accuracy of the GPS/SINS system integrated with position and velocity could be infected by the correlation between its measurements. In this paper, the integrated navigation system using original measurements of pseudo-range and pseudo-range rate was introduced. The UKF （Unscented Kalman Filter） is a filtering algorithm suitable for nonlinear models. It has the advantages of high accuracy and reliability, and doesn＇t need to implement linearization. The simulation results show that the performance of UKF-based navigation system is superior to that of the system with general Kalman filter and adaptive Kalman filter.