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车辆组合导航系统自适应UKF滤波算法

DOI: 10.3969/j.issn.1674-0696.2013.05.32, PP. 1045-1048

Keywords: 车辆导航,无迹卡尔曼滤波,全球定位系统/航位推算系统,误差估计,vehiclenavigation,UnscentedKalmanfilter,GPS/DR,errorestimation

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Abstract:

:?针对传统卡尔曼滤波和扩展卡尔曼滤波(EKF)在导航中存在的缺点,在车辆GPS/DR组合导航系统中引入了UnscentedKalmanfilter(UKF)算法,并提出一种改进的开窗估计算法,采用一种自适应算法来动态调整开窗大小,减小了算法计算量。利用此方法对系统过程噪声进行实时跟踪,并与UKF方法相结合。仿真试验表明:此方法滤波精度和稳定性都有了一定的提高,同时相比传统UKF算法又具有更好的自适应性。

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