摘要
为了检验扩展卡尔曼滤波(extended Kalman filter,EKF)与无轨迹卡尔曼滤波(unscented Kalmanfilter,UKF)在紧耦合组合导航系统中的性能,给出了地心地球固连(earth-centered earth-fixed,ECEF)坐标系下惯性导航系统(inertial navigation system,INS)误差方程。将该方程作为系统方程,GPS伪距测量方程作为系统测量方程,推导得出了EKF和UKF的滤波方程。仿真验证了EKF和UKF可以良好地应用于紧耦合系统,其定位精度优于单独使用GPS信息得到的导航解,UKF与EKF二者性能相当,UKF略优。
For verifying the performances of extended Kalman filter （EKF） and unscented Kalman filter （UKF） in tightly-coupled integrated navigation system, an INS system error model in the earth-centered earthfixed （ECEF） frame and a GPS pseudo range/range rate model are proposed to form the system equation and the measurement equation respectively, and then EKF and UKF filtering equations are derived. Simulation results validate that EKF and UKF are adequate for the tightly-coupled integrated system, the navigation results of both filters have higher accuracy than a stand alone GPS receiver, and the two filters have nearly identical performance while the UKF works slightly better.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2009年第10期2450-2454,共5页
Systems Engineering and Electronics
作者简介
赵思浩（1982-），男，博士研究生，主要研究方向为GNSS／INS组合导航系统。E-mail：zsh@mails．tsinghua．edu．cn
