强跟踪UKF滤波在SINS_GPS组合导航中的应用研究

针对飞行器大机动条件下SINS／GPS组合导航中出现的滤波发散问题，结合UKF滤波算法，提出了一种强跟踪UKF滤波算法。它通过引入渐消因子用线调整滤波增益阵K来减小老数据的权值，相对地增加新数据的权值，提高了UKF滤波跟踪性能。仿真和实际数据解算结果表明，强跟踪UKF提高了组合导航系统对于突变状态的实时跟踪能力和滤波过程的数值稳定性，验证了该算法的有效性。

Exploration of Strong Tracking UKF Used in the SINS/GPS Integrated Navigation

Aimed at solving filtering divergence in the SINS/GPS integrated navigation under the conditions of a highly mobile aircraft,combined with UKF algorithm,a strong tracking UKF algorithm is proposed.By the introduction of fading factor adjusting gain on-line,the value of old data is reduced while the value of new data is increased,thereby UKF filter tracking performance is improved.The results of computer simulation and real data solution show that Strong tracking UKF algorithm can improve real-time performan...