Unscented Kalman Filter for SINS/GPS Integrated Navigation System

摘要

In this research work, we study on the Unscented Kalman Filter (UKF) to estimate GPS/SINS integrated navigation system. The heart of the UKF is the Unscented Transformation (UT). UKF is presented for simulation. Simulation results show the superior performance of this approach when compared with classical suboptimal techniques such as Extended Kalman Filter (EKF) in cases of large initial misalignment. The UKF has good performance in case of small initial misalignment. The research provides theoretical support for engineering design and modification.