摘要
将UKF算法用于低成本的SINS/GPS全姿态组合导航系统中,提出了一种GPS测量姿态角的方法,推导了姿态角误差与平台失准角的关系,建立了系统的非线性误差模型,设计了UKF滤波器。仿真结果表明,通过将UKF算法用于SINS/GPS全姿态组合导航系统中,系统的可观测性得到了改善,提高了导航精度。
The UKF is applied in a low cost integrated navigation system composed of SINS and GPS and a kind of method to measure GPS position angle is proposed. Transformation relation between attitude error and misalignment angles is derived. The design of UKF is described based on the nonlinear model of the system. The simulations show that fully attitude integrated navigation system based on the unscented Kalman filter can improve the observability of system and its navigation precision.
出处
《现代防御技术》
北大核心
2010年第4期47-52,共6页
Modern Defence Technology
基金
航空基金(20090196065)
关键词
组合导航
无轨迹卡尔曼滤波
捷联惯导系统
全球定位系统
combined navigation
unscented Kalman filter（UKF）
strapdown inertial navigation system （ SINS ）
global positioning system （GPS）
