一种快速GPS/DR组合导航系统状态估计算法研究

无轨迹卡尔曼滤波(UKF)技术在非线性系统(GPS/DR车载组合导航系统)的状态估计中取得了比扩展卡尔曼滤波(EKF)更好的滤波精度和收敛速度.为了进一步减少采样点数目,提高UKF滤波实时性,一组n+2个采样点被构造用于逼近系统状态分布.蒙特卡洛仿真表明RUKF和UKF在滤波精度和收敛速度上是一致的,RUKF的计算效率好于UKF.

Real-time improvement in state estimation for GPS/DR integrated navigation system

This paper deals with the application of Unscented Kalman Filter (UKF), which has a better filtering precision and convergence rate than Extended Kalman Filter (EKF) for nonlinear system, to a GPS/DR integrated navigation system. In order to reduce the number of sigma points and increase the real-time in UKF, a set of (n+-2) sigma points is constructed to approximate the probability distributions of the system states. The Monte-Carlo simulation results show that the Reduced-sigma points UKF (RUKF) has a higher computational efficiency than the UKF, and an accordant filtering precision and convergence rate with the UKF.