针对GPS/SINS深组合模型的U滤波及其运用

很多文献都证明了在解决非线性系统问题时,UKF(Unscented Kalman Filter)是比EKF(Extended Kalman Filter)更好的选择,但计算的复杂度限制了其运用。针对GPS/SINS深组合的模型提出了全新简化的U滤波算法UTCUKF(Ultra Tight Coupling Unscented Kalman Filter)。这是一种专门针对具有加性噪声、线性状态方程和非线性量测方程的系统设计的滤波器。首先介绍了GPS/SINS深组合系统在导航解算时的模型,然后针对模型具有加性噪声的特点运用AUKF(Additive Unscented Kalman Filter)对UKF进行了简化,为了实现UKF在GPS/SINS深组合系统中的实际运用,又由系统模型中状态方程是线性方程、观测方程是非线性方程的特征,进一步提出了UTCUKF,并做了分析和仿真。

Application of Simplified Unscented Kalman Filter in Ultra Tight Coupling GPS/SINS System

In many literatures,Unscented Kalman Filter(UKF) has been proven to be a superior alternative to Extended Kalman Filter(EKF) when solving the nonlinear system.But the computational complexity of UKF limited its application.According to the feature of ultra tight coupling GPS/SINS system,a new simplified UKF ,called Ultra Tight Coupling Unscented Kalman Filter(UTCUKF),is proposed in this paper.Firstly,the system model of the ultra tight coupling GPS/SINS integration is illustrated.Secondly,according to the feature that process noise and measurement noise are additive,general UKF can be simplified as AUKF.Finally,in order to accelerate the application of UKF in ultra tight coupling GPS/SINS system,UTCUKF is specially designed for the dynamic system with the additive noise,the linear state equation and the nonlinear measurement equation,and the simulation and the analysis are done.