摘要
Unscented卡尔曼滤波(UKF)是一种新的非线性滤波算法,将其引入到GPS/DR系统的滤波中,并针对系统模型的特点对原UKF算法进行了简化,建立了新的滤波方法。仿真结果表明,同EKF相比,UKF的滤波精度和稳定性都显著提高了,还可避免计算烦琐的Jacobi矩阵,真正实现了低成本、高精度的导航定位要求。
The Unscented Kalman Filter (UKF) is a new nonlinear filtering method. In this paper, the UKF is introduced to the GPS/DR system. In view of the systems character, the original UKF is simplified, and a new filtering method is established. The simulation results show that the precision and stability of UKF are greatly improved compared with that of EKF, and meet the requirements of low-cost and high precision.
出处
《中国惯性技术学报》
EI
CSCD
2004年第4期20-23,共4页
Journal of Chinese Inertial Technology
