基于UKF的GPS/SINS组合导航直接式滤波算法

基于无迹卡尔曼滤波(UKF)方法,使用姿态、速度、位置等9个导航参数组成状态向量,以GPS系统输出的速度、位置组成6维观测向量,构建直接式结构的UKF滤波器。该滤波器能够直接反映系统导航参数的动态过程,准确显示运动状态演变。针对GPS/SINS组合导航系统的特点,构建了GPS/SINS组合导航直接式卡尔曼滤波仿真验证系统,仿真结果验证了基于UKF的GPS/SINS组合导航直接式滤波算法的有效性,该直接式非线性滤波算法可使惯性组合导航系统的导航精度得到提高。

Direct Kalman Filtering Algorithm for the GPS/SINS Integrated Navigation Based on UKF

A Kalman filter with direct structure is proposed based on UKF filter. The direct filter takes 9 parameters as state vectors such as attitude, velocity and position. And the six-dimension observation vectors are made up of velocity and position provided by Global Positioning System. The filter directly describes navigation parameters dynamic process of the system and reflects the evolution of motion state. A direct filtering demonstration system for the GPS/SINS Integrated Navigation is constructed according to the characteristics of GPS/SINS integrated navigation system. The simulation results verifies the effectiveness of the direct Kalman filtering method based on UKF and the filtering method can improve the navigation accuracy.