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| UKF滤波在INS/无源北斗组合导航系统中的应用 | |
| 引用本文： | 胡攀,高社生,倪龙强,杨凯.UKF滤波在INS/无源北斗组合导航系统中的应用[J].弹箭与制导学报,2009,29(5). |
| 作者姓名： | 胡攀 高社生 倪龙强 杨凯 |
| 作者单位： | 1. 西北工业大学自动化学院,西安,710072 2. 西北工业大学自动化学院,西安,710072;中国兵器工业第202研究所,陕西咸阳,712099 3. 中国兵器工业第202研究所,陕西咸阳,712099 |
| 摘 要： | 为解决无源北斗量测方程的非线性问题,提出将Unscented卡尔曼滤波(UKF)用于惯性导航系统(INS)/无源北斗组合导航系统,避免了利用传统的泰勒展开式逼近法对量测方程进行线性化处理所带来的截断误差.仿真结果表明,UKF方法有效地解决了卡尔曼滤波中系统量测方程的非线性问题,并使INS/无源北斗组合导航系统的导航精度得到大幅提高. |
| 关 键 词： | Unscented卡尔曼滤波(UKF) 组合导航 惯性导航系统(INS) 无源北斗导航定位系统 |
The Application of UKF to INS/Passive BEI-DOU Integrated Navigation System |
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| HU Pan,GAO Shesheng,NI Longqiang,YANG Kai.The Application of UKF to INS/Passive BEI-DOU Integrated Navigation System[J].Journal of Projectiles Rockets Missiles and Guidance,2009,29(5). | |
| Authors: | HU Pan GAO Shesheng NI Longqiang YANG Kai |
| Affiliation: | HU Pan1,GAO Shesheng1,NI Longqiang1,2,YANG Kai2(1 School of Automation,Northwestern Polytechnical University,Xi'an 710072,China,2 No.202 Research Institute of China Ordnance Industries,Shaanxi Xianyang 712099,China) |
| Abstract: | In order to avoid linearization for nonlinear measurement equations,the unscented Kalman filter(UKF) was applied to INS/passive BEI-DOU integrated navigation system.The UKF was used to estimate navigation parameters of the integrated system directly,and the truncation errors occurred during solving nonlinear measurement equation by Talor equation is avoided.The simulation results show that the truncation errors of nonlinear measurement equations are eliminated and the navigation accuracy of INS/passive BEI-... |
| Keywords: | Unscented Kalman filter(UKF) integrated navigation system inertial navigation system(INS) passive BEI-DOU position system |
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