摘要
为提高导航系统数据融合的稳定性和容错性,将一种基于方根分解形式的Unscented卡尔曼滤波(SR-UKF)算法和分散式滤波技术相结合,建立了新的联邦滤波器SR-UKF算法并应用于GPS/INS组合导航系统中。数值仿真实验表明,联邦SR-UKF比联邦UKF有更好的滤波精度、更高的稳定性和容错性,是一种理想的非线性GPS/INS组合导航滤波方法。
In order to improve stability and fault tolerance of integrated navigation data fusion, an improved federated SRUKF algorithm based on square root unscented Kalman filter algorithm and distributed information fusion technology was designed and used in the navigation system. The simulation results indicate that the federated SR-UKF has better filter precision and higher stability and the fault tolerance Compared with the federated UKF. It is an ideal nonlinear filter method for INS/GPS integrated navigation.
出处
《弹箭与制导学报》
CSCD
北大核心
2009年第3期47-50,共4页
Journal of Projectiles,Rockets,Missiles and Guidance
