Positioning System of Tower Crane Based on Federal UKF Information Fusion

摘要

According to the nonlinear part in the positioning system of tower crane, the Unscented Kalman Filter (UKF) was introduced and combined with the federal Kalman filtering technique in this paper. Then the algorithm based on the federal UKF multi-sensor information fusion was put forward and applied to the positioning system of tower crane. The positioning model was simplified and the calculation of linearized error and Jacobian matrix was avoided. The positioning accuracy of this new method was improved. The simulation results show that the correctness and effectiveness of the proposed scheme.