全球定位/惯性导航组合导航改进UKF算法

Improved UKF algorithm for global positioning/inertial navigation integrated system

引入自适应因子,在系统滤波过程中判断系统滤波是否处于正常状态,选择性动态修正的滤波参数以提高系统滤波抗干扰能力,并进行了仿真验证。本方法与UKF相比,在位置的三个方向上,误差均值分别降低了30.66%、21.58%、23.36%;在速度的三个方向上,误差均值分别降低了4.76%、11.01%、20%。与14-IUKF相比,在位置的三个方向上,误差均值分别降低了16.42%、11.57%、16.33%;在速度的三个方向上,误差均值分别降低了2.25%、3.96%、11.09%。

In the process of filtering,an adaptive factor is introduced to determine if the filtering is in normal state,and the parameters are dynamically modified to improve the anti-interference ability of the system.The method is simulated and compared with both the UKF system and 14-IUKF.The results indicate:the average error is reduced by 30.66%,21.58%and 23.36%respectively in three directions of position,and by 4.76%,11.01%and 20%in the three directions of velocity when it is compared with UKF;While being compared with 14-IUKF,the average error is reduced by 16.42%,11.57%and 16.33%in three directions,and by 2.25%,3.96%and 11.09%in the three directions of velocity.