基于UKF的INS/GPS组合导航系统仿真

A Simulation of INS/GPS Based on Unscented Kalman Filter

通过Unscented卡尔曼滤波(UKF)算法,研究INS/GPS紧耦合组合导航系统中滤波算法的问题,避免了对非线性的系统方程进行线性化。同时将自适应原理引入UKF,给出了一种自适应UKF算法。将EKF、UKF和自适应UKF分别应用到INS/GPS组合导航系统的滤波中。仿真结果表明,相比UKF算法,自适应UKF算法进一步提高导航解的精度和收敛速度,同时系统的鲁棒性也得到了提高。

The Unscented Kalman Filter（UKF） is introduced to solve the filtering problem in the tight coupling of INS/GPS integrated navigation system,and avoid the linearization for nonlinear system equations.The adaptive estimation principle is applied for UKF to set up an adaptive UKF.The Extended Kalman Filter（EKF）,UKF and the adaptive UKF are all applied to the INS/GPS integrated system.The simulation results show that the adaptive UKF provide higher convergence rate and estimation precision,and improve the robustness of the system.