Due to the limited localization precision of single sensor, a sensor data fusion is introduced based on Rao-Blackwellization Unscented Kalman Filter (RBUKF) that fuses the sensor data of a GPS receiver, one gyro and one compass. RBUKF algorithm is compared with that of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) in this study. The experimental results show that the RBUKF algorithm can more effectively improve tracking accuracy and reduce computational complexity than the other algorithms and has practical significance.
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