UKF在线调整算法及其仿真研究

The Research of UKF Online Adjustment Algorithm and Simulation

针对无迹卡尔曼特殊模型的优化问题,以自由调节参数和非线性滤波模型的特点为核心,对无迹卡尔曼滤波进行了理论分析和仿真验证。针对状态方程或量测方程有一个是线性时,给出了模型化的UKF算法,并定量分析了模型化的UKF算法的计算量问题。结果发现模型化UKF计算量更小,运行时间得到改善。

Aiming at the optimization problem of the non trace Calman＇s special model, the theory analysis and simulation verification of the non trace Calman filter are carried out based on the characteristics of the free adjustment parameter and the nonlinear filtering model.This article for state equation or a measurement equation is linear time, given the UKF algorithm modeling and quantitative analysis of the computational problem modeled UKF algorithm.It was found that the computational modeling UKF smaller,runtime can be improved.