| 自适应两级UKF算法及其在时变偏差估计中的应用 |
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| 引用本文： | 程会艳,郝云彩,熊凯.自适应两级UKF算法及其在时变偏差估计中的应用[J].空间控制技术与应用,2010,36(3):33-37,54. |
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| 作者姓名： | 程会艳 郝云彩 熊凯 |
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| 作者单位： | 北京控制工程研究所,北京,100190;空间智能控制技术国家级重点实验室,北京,100190 |
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| 基金项目： | 863课题项目，国家自然科学基金 |
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| 摘 要： | 针对存在时变偏差的非线性系统状态估计问题，提出了一种新型的自适应两级UKF算法（ATUKF，adaptive two—stage unscented Kalman filter）．该算法利用衰减因子补偿模型的不确定性，对状态和偏差实施分离估计，并利用估计偏差对状态进行更新．将该算法用于存在随机时变偏差的近地卫星自主导航系统的状态估计问题中，仿真结果验证了其有效性，并利用可观测性分析方法对导航系统的可观测性进行了分析．
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| 关 键 词： | 非线性滤波 随机时变偏差 可观测性 |
An Adaptive Two-Stage Unscented Kalman Filter and Its Application in Unknown Random Bias |
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| CHENG Huiyan,HAO Yuncai,XIONG Kai.An Adaptive Two-Stage Unscented Kalman Filter and Its Application in Unknown Random Bias[J].Aerospace Contrd and Application,2010,36(3):33-37,54. |
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| Authors: | CHENG Huiyan HAO Yuncai XIONG Kai |
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| Institution: | 1. Beijing Institute of Control Engineering, Beijing 100190, China ; 2. National Key Laboratory of Science and Technology on Space Intelligent Control, Beijing 100190, China) |
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| Abstract: | An adaptive two-stage unscented Kalman filter （ATUKF） is proposed to consider the nonlinear system in the presence of random time-varying bias in a number of practical situations. The ATUKF compensates model uncertainties by using the decay factor, estimating both the state and random bias, and using estimated bias to update state. A near-earth satellite autonomous navigation system with the random bias is simulated by this algorithm to estimate position and velocity of the satellite, the results validate the effectiveness of the ATUKF, and finally autonomous navigation system＇ s observability is analyzed. |
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| Keywords: | non-linear filter random time-varying bias observability |
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