摘要
为解决载体在高动态下大幅度运动出现的滤波发散问题,提出强跟踪无迹卡尔曼滤波(strong tracking uncented Kalman filter,STUKF)算法。分析组合导航模型和研究经典的无迹卡尔曼滤波(uncented Kalman filter,UKF)算法,将强跟踪UKF算法应用于SINS/GNSS组合导航系统,并与经典UKF算法和衰减记忆UKF算法进行比较。分析结果表明:该强跟踪UKF算法性能较好,能明显缩短滤波时间,减小速度误差和位置误差,从而提高组合导航的准确性和稳定性。
In order to solve the problem about filtering divergence of carrier under high dynamic motion, put forward strong tracking uncented Kalman filter （STUKF） algorithm. Analyze the combined navigation model and classic uncented Kalman filter （UKF） algorithm, use the STUKF algorithm in SINS/GNSS combined navigation system, and compared it with classic UKF algorithm and attenuation memory UKF algorithm. The analysis results show that the strong tracking UKF algorithm has good performance, can significantly shorten the filter time, reduce the speed error and position error, so it could improve the accuracy and stability of integrated navigation.
作者
陈书磊
汤霞清
武萌
高军强
Chen Shulei;Tang Xiaqing;Wu Meng;Gao Junqiang(Department of Control Engineering,Academy of Armored Force Engineering,Beijing 100072,China)
出处
《兵工自动化》
2018年第9期32-36,共5页
Ordnance Industry Automation
