首页> 外文期刊>Systems Engineering and Electronics, Journal of >SINS/CNS/GPS integrated navigation algorithm based on UKF
【24h】

SINS/CNS/GPS integrated navigation algorithm based on UKF

机译:基于UKF的SINS / CNS / GPS组合导航算法

获取原文
获取原文并翻译 | 示例
           

摘要

A new nonlinear algorithm is proposed for strap-down inertial navigation system (SINS)/celestial navigation system (CNS)/global positioning system (GPS) integrated navigation systems. The algorithm employs a nonlinear system error model which can be modified by unscented Kalman filter (UKF) to give predictions of local filters. And these predictions can be fused by the federated Kalman filter. In the system error model, the rotation vector is introduced to denote vehicle's attitude and has less variables than the quaternion. Also, the UKF method is simplified to estimate the system error model, which can both lead to less calculation and reduce algorithm implement time. In the information fusion section, a modified federated Kalman filter is proposed to solve the singular covariance problem. Specifically, the new algorithm is applied to maneuvering vehicles, and simulation results show that this algorithm is more accurate than the linear integrated navigation algorithm.
机译:针对捷联惯性导航系统(SINS)/天体导航系统(CNS)/全球定位系统(GPS)集成导航系统,提出了一种新的非线性算法。该算法采用了非线性系统误差模型,可以通过无味卡尔曼滤波器(UKF)对其进行修改,以给出局部滤波器的预测。这些预测可以通过联合卡尔曼滤波器进行融合。在系统误差模型中,引入了旋转矢量来表示车辆的姿态,并且旋转变量比四元数少。而且,简化了UKF方法以估计系统误差模型,这既可以减少计算量,又可以减少算法实现时间。在信息融合部分,提出了一种改进的联合卡尔曼滤波器来解决奇异协方差问题。具体地,将该新算法应用于机动车辆,仿真结果表明,该算法比线性集成导航算法更准确。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱:kefu@zhangqiaokeyan.com

京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有
  • 客服微信

  • 服务号