Improved UKF Algorithm for Divergence-Suppression and Its Application to Orbit Determination

摘要

The Unscented Kalman Filter (UKF) improved the linearization of system, but it do follow the Kalman Filter (KF) framework, the instability and the divergence of filter does not avoided while the increase of the measurement time in the practice. The reasons of the filter instability are discussed and two novel improved algorithms for divergence-suppression are presented in this paper. Moreover simulations are conducted using the satellites orbit determination, and the results are compared with those obtained by normal UKF to illuminate the major reasons of filter instability and demonstrate its effctiveness and advantages over the previous methods.