| 基于联邦SR-UKF算法的GPS/INS导航数据融合算法 |
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| 引用本文： | 吴志峰,吴军,王蕊,张晓晗.基于联邦SR-UKF算法的GPS/INS导航数据融合算法[J].弹箭与制导学报,2009,29(3). |
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| 作者姓名： | 吴志峰 吴军 王蕊 张晓晗 |
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| 作者单位： | 1. 空军工程大学工程学院,西安,710038
2. 东北大学材料冶金学院,沈阳,110004 |
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| 摘 要： | 为提高导航系统数据融合的稳定性和容错性,将一种基于方根分解形式的Unscented卡尔曼滤波(SR-UKF)算法和分散式滤波技术相结合,建立了新的联邦滤波器SR-UKF算法并应用于GPS/INS组合导航系统中.数值仿真实验表明, 联邦SR-UKF 比联邦UKF 有更好的滤波精度、更高的稳定性和容错性, 是一种理想的非线性GPS/INS组合导航滤波方法.
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| 关 键 词： | INS/GPS组合导航 非线性滤波 联邦滤波 数据融合 |
GPS/INS Integrated Navigation Data Fusion Method Based on Federated SR-UKF Algorithm |
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| WU Zhifeng,WU Jun,WANG Rui,ZHANG Xiaohan.GPS/INS Integrated Navigation Data Fusion Method Based on Federated SR-UKF Algorithm[J].Journal of Projectiles Rockets Missiles and Guidance,2009,29(3). |
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| Authors: | WU Zhifeng WU Jun WANG Rui ZHANG Xiaohan |
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| Affiliation: | WU Zhifeng1,WU Jun1,WANG Rui2,ZHANG Xiaohan1(1 The Engineering Institute,Air Force Engineering University,Xi'an 710038 China,2 School of Materials & Metallurgical,Northeastern University,Shenyang 110004,China) |
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| Abstract: | In order to improve stability and fault tolerance of integrated navigation data fusion,an improved federated SR-UKF algorithm based on square root unscented Kalman filter algorithm and distributed information fusion technology was designed and used in the navigation system.The simulation results indicate that the federated SR-UKF has better filter precision and higher stability and the fault tolerance compared with the federated UKF.It is an ideal nonlinear filter method for INS/GPS integrated navigation. |
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| Keywords: | SR-UKF |
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