| 一种基于UKF的MEMS／GPS组合导航算法 |
| |
| 引用本文： | 刘明雍,郭勇,张立川,高沛林.一种基于UKF的MEMS／GPS组合导航算法[J].鱼雷技术,2013(5):351-354. |
| |
| 作者姓名： | 刘明雍 郭勇 张立川 高沛林 |
| |
| 作者单位： | [1]西北工业大学航海学院,陕西西安710072 [2]水下信息与控制重点实验室,陕西西安710072 |
| |
| 基金项目： | 国家自然科学基金（51179156）;国家自然科学基金青年基金项目（51109179）;教育部博士点基金（20106102120057）;西北工业大学基础基金（Jc201228）. |
| |
| 摘 要： | 针对微电子机械（MEMS）／全球定位（GPS）组合导航系统中，强非线性引起的扩展卡尔曼滤波（EKF）~-航精度不高、滤波性能不稳定、收敛速度慢等问题，研究了MEMS／GPS组合导航系统无迹卡尔曼滤波（UKF）算法，避免了EKF繁重的求导计算。本文对2种滤波方法进行了仿真比较，结果表明，用UKF的组合导航系统的误差收敛速度比EKF快，精度也比EKF高，UKF算法更适合于MEMS／GPS组合导航。
|
| 关 键 词： | 微电子机械 全球定位组合导航系统 扩展卡尔曼滤波 无迹卡尔曼滤波 |
UKF-Based Algorithm for MEMS/GPS Integrated Navigation System |
| |
| LIU Ming-yong,GUO Yong,ZHANG Li-chuan,GAO Pei-lin.UKF-Based Algorithm for MEMS/GPS Integrated Navigation System[J].Torpedo Technology,2013(5):351-354. |
| |
| Authors: | LIU Ming-yong GUO Yong ZHANG Li-chuan GAO Pei-lin |
| |
| Affiliation: | 1. College of Marine Engineering, Northwestern Polytechnical University, Xi＇an 710072, China; 2. Science and Tech- nology on Underwater Information and Control Laboratory, Xi＇an 710072, China) |
| |
| Abstract: | To solve the problems of low navigation accuracy, slow convergence rate and unstable filtering accuracy caused by the strong nonlinearity of the extended Kalman filter（EKF） in micro electro mechanical system/global posi- tioning system（MEMS/GPS） integrated navigation system, an unscented Kalman filter（UKF） is proposed for the MEMS/GPS integrated navigation system. The UKF avoids the heavy derivation in EKF. Simulation results show that the two filtering methods： the error convergence rate of UKF integrated navigation system is faster, the accuracy is higher than the EKF. Comparison between the two algorithms shows that MEMS/GPS integrated navigation system with UKF achieves faster error convergence rate. hi~her navi~,ation accuracv and enhanced navioation narfnrmznt~e |
| |
| Keywords: | micro electro mechanical system/global positioning system integrated navigation system extended Kalmanfilter unscented Kalman filter |
| 本文献已被 维普 等数据库收录！ |
