摘要
扩展卡尔曼滤波(EKF)是在非线性系统中常用的一种滤波方法,Un-scented卡尔曼滤波(UKF)是一种新的非线性滤波算法,其主要特点是与EKF一样传递状态的前两阶矩,但不用计算Jacobian矩阵。将EKF和UKF分别应用到INS/GPS系统的滤波中,仿真结果表明UKF比EKF更适合于在INS/GPS系统中使用。
The extended Kalman filtering （EKF） is the primary mechanism used in nonlinear systems. The unscented Kalman filtering （UKF） is a new nonlinear filtering method, which propagates the first two moments as EKF does, while does not need to calculate the Jacobian matrix. The EKF and UKF are both applied to the INS/GPS integration system in this paper. The simulation results show that the UKF is more appropriate for the INS/GPS system than the EKF.
出处
《航天控制》
CSCD
北大核心
2006年第6期7-10,16,共5页
Aerospace Control
关键词
组合导航
EKF
UKF
INS/GPS
Integrated navigation Extended Kalman filtering Unscented Kalman filtering INS/GPS
