An Adaptive UKF Algorithm and Its Application for Vehicle Integrated Navigation System

摘要：

　　In order to overcome the problems existing in Kalman filter(KF),extended Kalman filter(EKF) and unscented Kalman filter(UKF) in the vehicle integrated navigation system,a method is adopted to solve this problem.UKF algorithm is introduced,and an improved UKF was presented which is an adapted factor is introduced in UKF.It is shown,in vehicle integrated navigation system,UKF is superior to the EKF,AUKF is better than UKF,AUKF has better in reducing sensitivity of the process and the initial value of the statistical characteristics of the noise and the accuracy,reliability of the navigation solution.

关键词： vehicle navigation extended Kalman filter unscented Kalman filter adapted factor

作者: WU Xiao-yan SONG Chun-lei CHEN Jia-bin HAN Yong-qiang

作者单位: School of Automation,Beijing Institute of Technology,Beijing,100081,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 787-791

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）