摘要
针对GPS/INS超紧组合特点,基于四元素法建立了系统的非线性状态方程,利用GPS接收机原始伪距测量信息对系统状态进行观测,并将EKF和UKF方法运用到系统进行比较,仿真结果表明UKF在姿态、位置估计上精度要优于EKF。
In this paper,according to the characteristics of ultra-tight GPS/INS integration,nonlinear error models about the ultra-tight GPS/INS integrated navigation system are established based on quaternion theory,and the original measurements of pseudo-range is used to observe the system states.Extended and unscented Kalman filtering are used in the system.paper.The simulation results show that the UKF is superior than the EKF in attitude and velocity estimate accuracy.
出处
《火力与指挥控制》
CSCD
北大核心
2010年第6期60-63,共4页
Fire Control & Command Control
基金
国家部委基金(514530601052S3301)
南京理工大学科研发展基金资助项目(XKF05031)
关键词
超紧组合
EKF
UKF
非线性
ultra-tight GPS/INS
extended Kalman filtering
unscented kalman filtering
nonlinearity
