基于 USQUE 的四元数容积卡尔曼滤波算法在组合导航中的应用

摘要

Integrated navigation is an important research field and application of navigation field .Because there are a va‐riety of approximate calculation in the establishing process ,the traditional model based on the inertial navigation error model is involved with many approximation error and model error ,leading to the decrease of information fusion's estimation accura‐cy .Based on the USQUE ,a quaternion cubature Kalman filter is proposed ,which is applied in SINS/GPS located integrated navigation .The simulation results verify the effectiveness and high estimation accuracy of the algorithm .%组合导航是导航领域中一个重要的研究领域和应用方向。传统的基于惯导误差模型的组合导航模式，因模型在建立过程存在各种近似计算，这必然使得建立的模型中引入诸多近似误差和模型误差，因此，其信息融合的估计精度下降。论文基于USQUE计算流程，提出一种四元数容积卡尔曼滤波算法，并将该算法应用于SINS／GPS位置松组合导航问题当中，仿真结果验证该算法的有效性并且具有较高的估计精度。