摘要
用一种新型的无迹卡尔曼滤波算法(UKF)代替传统的扩展卡尔曼滤波算法(EKF),对GPS/DR组合定位系统进行信息融合滤波。通过计算机仿真和分析后,结果表明无迹卡尔曼滤波算法UKF的滤波定位精度明显高于扩展卡尔曼滤波器EKF,而且UKF对由于系统非线性所引起的滤波误差有很好的抑制作用,因此UKF算法对于要求高精度、低成本和高可靠性的GPS/DR组合定位系统来说是一种值得推广的滤波算法,具有一定的应用价值。
A new Unscented Kalman filtering algorithm is presented to displace traditional fxtended Kalman fil-tering algorithm,which is used in GPS/DR integrated positioning system for data fusion filtering.Through computer stimulation and analysis,it showed that filtering position precision of UKF is obviously higher than EKF,moreover,UKF have good limiting function to filtering error caused by nonlinear system.So UKF have certain value and is worth popularizing for GPS/DR integrated positioning system required lowcost,high precision and reliability.
出处
《科学技术与工程》
2010年第25期6310-6313,6317,共5页
Science Technology and Engineering
关键词
组合定位系统
无迹卡尔曼滤波
扩展卡尔曼滤波
integrated positioning system unscented Kalman filtering extended Kalman filtering
