全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...
兵工学报  2015 

一种简化的发射系下SINS/GPS/CNS组合导航系统无迹卡尔曼滤波算法

DOI: 10.3969/j.issn.1000-1093.2015.03.016, PP. 484-491

Keywords: 控制科学与技术,无迹卡尔曼滤波,简化无迹卡尔曼滤波,捷联惯导系统,导航星全球定位系统,天文导航系统,组合导航

Full-Text   Cite this paper   Add to My Lib

Abstract:

?在弹载等高动态环境下组合导航系统状态方程具有强非线性,且各状态相互耦合影响,传统的扩展卡尔曼滤波(EKF)算法因忽略高阶项相互影响,其模型线性化展开会导致模型不准确引起导航精度下降;无迹卡尔曼滤波(UKF)算法能有效避免引入线性化误差,却存在因组合导航系统维数过高引起大量粒子递推滤波计算复杂而影响算法实时性的问题。为此,针对发射惯性系下弹载组合导航系统对滤波算法高实时性和高精确性的要求,设计了一种简化UKF(SUKF)算法,SUKF算法通过对导航系统的状态参数直接进行建模估计,解决了传统UKF算法实时性差的问题,同时继承了传统UKF算法无需模型一阶线性化展开的优点,提高了导航系统的精度。算法仿真结果表明,SUKF算法有效提高了系统解算的实时性和滤波精度,非常适合用于实际工程系统。

References

[1]  [1] Wang R, Xiong Z, Liu J, et al. SINS/GPS/CNS information fusion system based on improved Huber filter with classified adaptive factors for high-speed UAVs[C]∥Proceeding of the 2012 IEEE/ION Position, Location and Navigation Symposium (PLANS). Myrtle Beach,South Cardina: IEEE, 2012: 441-446.
[2]  [2] Hu H D, Huang X L.SINS/CNS/GPS integrated navigation algorithm based on UKF[J]. Journal of Systems Engineering and Electronics,2010, 21(1):102-109.
[3]  [3] 江晓东,谢京稳,郭军海. 基于UKF的再入弹道高精度估计方法研究[J]. 航天控制,2011,29(3):28-32.
[4]  [12] Ge Z X, Yang Y M, Zheng H. A new UKF based fault detection method in non-linear systems[J].International Journal of Plant Engineering and Management,2006, 11(3):179-183.
[5]  [13] Rhudy M,Gu Y, Jason V, et al. Evaluation of matrix square root operations for UKF within a UAV GPS/INS sensor fusion application[J]. International Journal of Navigation and Observation, 2011:1-11.
[6]  [14] Nowak T, Eidloth A. Dynamic multipath mitigation applying unscented Kalman filters in local positioning systems[J]. International Journal of Microwave and Wireless Technologies,2011, 3(3): 365-372.
[7]  [4] Wang Q T, Xiao D. The research and application of robust UKF algorithm for GPS/SINS integrated system[J]. Journal of Convergence Information Technology,2011,6(6):202-211.
[8]  [5] Majeed M,Kar I N. Aerodynamic parameter estimation using adaptive unscented Kalman filter[J]. Aircraft Engineering and Aerospace Technology, 2013, 85(4):267-279.
[9]  [6] 罗楠,许录平,张华. 基于UKF和信息融合的航天器自主导航方法[J]. 中国空间科学技术,2012,32(2):1-9.
[10]  [7] Zhang H T. Unscented Kalman filter and its nonlinear application for tracking a moving target[J]. Optik-International Journal for Light and Electron Optics,2013,13(3):4468-4471.
[11]  [8] Kols S,Foss B A, Schei T S. Constrained nonlinear state estimation based on the UKF approach[J]. Computers and Chemical Engineering, 2009, 33(8):1386-1401.
[12]  [9] 周丕森,鲍其莲. 组合导航系统UKF滤波算法设计[J]. 上海交通大学学报,2009,43(3):389-392.
[13]  [10] Luo Z,Fang H J. Modified state prediction algorithm based on UKF[J]. Journal of Systems Engineering and Electronics,2013,24(1):135-140.
[14]  [11] Liu J, Ma J. Pulsar/CNS integrated navigation based on federated UKF[J]. Journal of Systems Engineering and Electronics,2010,21(4):675-681.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133