摘要
针对微电子机械(MEMS)/全球定位(GPS)组合导航系统中,强非线性引起的扩展卡尔曼滤波(EKF)导航精度不高、滤波性能不稳定、收敛速度慢等问题,研究了MEMS/GPS组合导航系统无迹卡尔曼滤波(UKF)算法,避免了EKF繁重的求导计算。本文对2种滤波方法进行了仿真比较,结果表明,用UKF的组合导航系统的误差收敛速度比EKF快,精度也比EKF高,UKF算法更适合于MEMS/GPS组合导航。
To solve the problems of low navigation accuracy, slow convergence rate and unstable filtering accuracy caused by the strong nonlinearity of the extended Kalman filter（EKF） in micro electro mechanical system/global posi- tioning system（MEMS/GPS） integrated navigation system, an unscented Kalman filter（UKF） is proposed for the MEMS/GPS integrated navigation system. The UKF avoids the heavy derivation in EKF. Simulation results show that the two filtering methods： the error convergence rate of UKF integrated navigation system is faster, the accuracy is higher than the EKF. Comparison between the two algorithms shows that MEMS/GPS integrated navigation system with UKF achieves faster error convergence rate. hi^her navi~,ation accuracv and enhanced navioation narfnrmznt^e
出处
《鱼雷技术》
2013年第5期351-354,共4页
Torpedo Technology
基金
国家自然科学基金(51179156)
国家自然科学基金青年基金项目(51109179)
教育部博士点基金(20106102120057)
西北工业大学基础基金(JC201228)
关键词
微电子机械
全球定位组合导航系统
扩展卡尔曼滤波
无迹卡尔曼滤波
micro electro mechanical system/global positioning system integrated navigation system
extended Kalmanfilter
unscented Kalman filter
