基于强跟踪UPF的重力梯度辅助定位方法

针对重力梯度辅助定位中,存在重力梯度的强非线性分布及系统模型偏差等问题,将STUPF引入匹配定位过程。该方法根据残差信息实时调节系统状态跟踪能力,有效应对模型偏差对定位的影响。基于真实INS数据的仿真实验结果表明,STUPF可达到较好的定位效果,且与标准PF、GPF算法相比,其在定位的精度、稳定性及运算量上具有一定优势。

The Method of Gravity Gradient Aided Positioning Based on STUPF

Aiming at the problem of strong nonlinear distribution of gravity gradient and the deviations of system model for gravity gradient aided positioning, the method of STUPF is introduced into the process of matching and location. This method can adjust the tracking ability of the location system according to the residual information in real time, and can effectively cope with the influence of the model deviation on the accuracy of location. Simulation experiments based on real INS data shows that STUPF can achieve good positioning result and have advantages in positioning accuracy, stability and calculation compared with the standard PF and GPF algorithms.