| UKF滤波技术在车载GPS/INS组合定位系统中的应用研究 |
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| 作者单位： | 武汉大学测绘学院 武汉430079 |
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| 摘 要： | Unscented卡尔曼滤波技术(UKF)是一种新的非线性滤波方法,该方法与EKF方法相比更容易实现、滤波精度更高。本文将UKF应用于车载GPS/INS组合导航定位系统,并将UKF与EKF方法进行了仿真比较。结果表明,UKF的位置、航向滤波精度都要优于EKF。
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| 关 键 词： | GPS/INS 车载导航 组合导航 UKF EKF |
Study on UKF Method for Land Vehicle GPS/INS Integrated Navigation System |
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| Authors: | Xiao Jinli |
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| Affiliation: | Xiao Jinli et al. |
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| Abstract: | The UKF (Unscented Kalman Filter)is a new nonlinear filtering method. Compared with the EKF,the UKF has the characteristics of realization and higher state estimation accuracy. In this paper,the UKF is applied to the land vehicle GPS/INS integrated navigation system and the simulation results show that the UKF is superior to the EKF. |
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| Keywords: | GPS/INS land vehicle navigation integrated navigation UKF EKF |
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