摘要
为了提高标准Unscented卡尔曼滤波(UKF)计算效率,本文对标准UKF采样点计算方法进行改进,使状态更新过程中的多次积分过程简化为一次积分过程,并证明了标准UKF和改进UKF的等效性.计算机仿真结果表明,在计算精度一致(位置确定精度约为70m,速度确定精度约为0.005m/s)的情况下,改进UKF的计算效率是标准UKF的5倍.
It is known that the Unscented Kalman filter（UKF） is applied in X-ray pulsar navigation because of the high nonlinearity of its state equation and measurement equation.In order to improve the computational efficiency of standard UKF,the method to get sample points in UKF is modified in this paper.As a result,the state update could be done by integration needed only one time.Moreover,the equivalency of standard UKF and modified UKF is proved in the work.The simulation results demonstrate that the computational efficiency of modified UKF could be 5 times higher than that of standard UKF with the same condition of computation precision： the position determination precision is about 70 meters and the velocity determination precision is about 0.005 meters per second.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2012年第1期51-55,共5页
Transactions of Beijing Institute of Technology
基金
国家部委预研项目(XDA04074300)
