| EKF和UKF在INS/GPS组合导航中的应用分析 |
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| 引用本文： | 徐慧娟,吴美平,罗兵.EKF和UKF在INS/GPS组合导航中的应用分析[J].航天控制,2006,24(6):7-10. |
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| 作者姓名： | 徐慧娟 吴美平 罗兵 |
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| 作者单位： | 国防科技大学机电工程与自动化学院,长沙,410073 |
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| 摘 要： | 扩展卡尔曼滤波(EKF)是在非线性系统中常用的一种滤波方法,Un-scented卡尔曼滤波(UKF)是一种新的非线性滤波算法,其主要特点是与EKF一样传递状态的前两阶矩,但不用计算Jacobian矩阵。将EKF和UKF分别应用到INS/GPS系统的滤波中,仿真结果表明UKF比EKF更适合于在INS/GPS系统中使用。
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| 关 键 词： | 组合导航 EKF UKF INS/GPS |
| 文章编号： | 1006-3242(2006)06-0007-04 |
| 修稿时间： | 2006年6月28日 |
Analysis of Extended and Unscented Kalman Filtering for INS/GPS Integration |
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| Xu Huijuan,Wu Meiping,Luo Bing.Analysis of Extended and Unscented Kalman Filtering for INS/GPS Integration[J].Aerospace Control,2006,24(6):7-10. |
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| Authors: | Xu Huijuan Wu Meiping Luo Bing |
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| Abstract: | The extended Kalman filtering(EKF) is the primary mechanism used in nonlinear systems.The unscented Kalman filtering(UKF) is a new nonlinear filtering method,which propagates the first two moments as EKF does,while does not need to calculate the Jacobian matrix.The EKF and UKF are both applied to the INS/GPS integration system in this paper.The simulation results show that the UKF is more appropriate for the INS/GPS system than the EKF. |
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| Keywords: | Integrated navigation Extended Kalman filtering Unscented Kalman filtering INS/GPS |
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