UKF在INS/GPS直接法卡尔曼滤波中的应用

提出将Unscented卡尔曼滤波(UKF)用于INS/GPS组合导航系统的直接法卡尔曼滤波,避免了对非线性的系统状态方程进行线性化.以INS输出的导航参数及平台误差角等作为系统状态,惯导力学编排方程和姿态误差方程作为系统状态方程,GPS输出的导航参数作为量测,采用UKF方法对系统导航参数直接进行估计.仿真结果表明,UKF方法有效地解决了直接法卡尔曼滤波中系统状态方程的非线性问题,并使INS/GPS组合导航系统具有较高的导航定位精度.

Application of UKF in Direct Method of Kalman Filter for INS/GPS

In order to avoid the linearization for nonlinear state equations,Unscented Kalman Filter(UKF)was applied to the direct method of Kalman filter for INS/GPS integrated navigation system.Navigation parameters from INS and error angles of platform were chosen as the states of the system,the navigation calculating equations and attitude error equations of INS were the state equations,and navigation parameters from GPS were the measurements.UKF was used to estimate navigation parameters of the integrated system directly.Simulation results show that,UKF effectively solve the nonlinearity problem of state equations in the direct method of Kalman filter,and INS/GPS integrated navigation system has high navigation accuracy by UKF.