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《Transactions of Beijing Institute of Technology》 2008-06
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An Adaptive UKF Algorithm and Its Application for GPS/INS Integrated Navigation System

GAO Wei-guang1,2,HE Hai-bo2,CHEN Jin-ping2(1.Institute of Surveying and Mapping,University of Information Engineering,Zhengzhou,Henan 450052,China;2.Beijing Huanqiu Information Developing Center,Beijing 100094,China)  
A new adaptive unscented Kalman filter(UKF) algorithm is set up.In order to overcome the shortcomings of UKF,such as obvious influences from the values of initial parameters,the uncertainness of systemic noises and the influences of vehicle disturbances in movements,the adaptive estimation principle is applied for UKF.It is shown,by comparison and analysis that the UKF algorithm is better than extended Kalman filter(EKF) and the adaptive EKF is superior to UKF,and the adaptive UKF is superior to all algorithms in the application of GPS/INS integrated navigation systems.
【Fund】: 国家自然科学基金资助项目(40604003);; 国家“八六三”计划项目(2007AA12Z331);; 信息工程大学博士生创新基金资助项目
【CateGory Index】: V249.328
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【References】
Chinese Journal Full-text Database 2 Hits
1 QU Yunjie1,2,SUN Yao1,MO Hongwei1(1 Harbin Engineering University,Harbin 150001,China;2 Beijing Institute of Automatic Control Equipment,Beijing 100074,China);Square-root Unscented Kalman Filter of Small UAV Integrated Navigation System[J];Journal of Projectiles,Rockets,Missiles and Guidance;2009-01
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【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 HUANG Xian-yuan,SUI Li-fen,FAN Peng-pai(Institute of Surveying and Mapping,Information Engineering University,Zhengzhou 450052,China);Analyses and comparisons of some filter methods[J];Engineering of Surveying and Mapping;2007-03
2 NIE Jian-liang①,QIN Yong②,LIU Hui③(①School of Geological and Surveying Engineering,Chang'an University,Xi'an 710054,China;②The Xiangfan Branch of Military Economic Academy of PLA,441118 China;③Henan Highway Engineering Supervision Consultation Limited Company,Zhengzhou 450052,China);The application of BP neural network based on UKF height fitting[J];Science of Surveying and Mapping;2007-06
3 HUANG Xian-yuan, SUI Li-fen, LIU Mai-xi(Institute of Surveying and Mapping, Information Engineering University, Zhenzhou 450052, China);A method of measure the result of the adaptive factor by decompounding spectrum[J];Science of Surveying and Mapping;2008-01
4 ZHANG Li-ping②(Xi’ an Information Division of Surveying & Mapping, Xi’ an 710054, China; ②Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450052, China);Adaptively sequential adjustment with multi adaptive factors[J];Science of Surveying and Mapping;2008-01
5 ZENG An-min①③, ZHANG Li-ping②③, CUI Ji-chun③(①School of Geological and Surveying Engineering, Chang’an University, Xi’an 710054, China; ②Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450052, China;③Xi’an Information Division of Surveying and Mapping, Xi’ an 710054, China);The compensation with adjustment and influence of the outliers in the prior parameters[J];Science of Surveying and Mapping;2008-02
6 LI Qing-kui,L Zhi-ping(Institute of Surveying and Maping, Information Engineering, University, Zhengzhou 450052,China );Adaptive kalman filtering based on the fuzzy control theory[J];Science of Surveying and Mapping;2008-02
7 GAO Wei-guang①②,DU Yan ②,WANG Nan②(① Institute of Surveying and Mapping,University of Information Engineering,Zhengzhou 450052,China;② 61081 Troops,Beijing,100094 China);Analysis of the influence of model errors on two chi-square statistical hypothesis test algorithms[J];Science of Surveying and Mapping;2009-01
8 GAO Wei-guang1,3,YANG Yuan-xi2,ZHANG Ting3(1.Institute of Surveying and Mapping,University of Information Engineering,Zhengzhou 450052,China;2.Xi′an Research Institute of Surveying and Mapping,Xi′an 710054,China;3.61081 Troops,Beijing 100094,China);Neural Network Aided Adaptive Filtering for GPS/INS Integrated Navigation[J];Acta Geodaetica et Cartographica Sinica;2007-01
9 WU Fu-mei1,YANG Yuan-xi2(1.Institute of Surveying and Mapping,Information Engineering University,Zhengzhou 450052,China;2.Xi'an Research Institute of Surveying and Mapping,Xi'an 710054,China);GPS/INS Integrated Navigation by Adaptive Filtering Based on Wavelet Threshold De-noising[J];Acta Geodaetica et Cartographica Sinica;2007-02
10 TIAN Shi-jun1,Chen Jun2,PI Yi-ming1(1.School of Electronic Engineering,University of Electronic Science and Technology of China,Chengdu 610054,China;2.Network Engineering Department,Chengdu University of Information Technology,Chengdu 610031,China);Particle Filtering and Its Application for Kinematic GPS Positioning with High Speed Movement[J];Acta Geodaetica et Cartographica Sinica;2007-03
【Co-references】
Chinese Journal Full-text Database 2 Hits
1 Li Wanyu; Ruan Aiwu ;Luo Jinsheng; Feng Pide ( No. 618 Research Institute. Aeronautics Industry Co., Xian, 710065 ) ( Automatic Control Department. Northwestern Polytechnical University, Xian. 710072) ( Electronics &. Information School. Xian Jiaotong Un;Error Sources in Micromachined Tuning-Fork Gyroscope[J];JOURNAL OF TRANSCLUCTION TECHNOLOGY;1999-04
2 Xu Huijuan Wu Meiping Luo BingCollege of Electromechanical Engineering and Automation,National University of Defense Technology,Changsha 410073,China;Analysis of Extended and Unscented Kalman Filtering for INS/GPS Integration[J];Aerospace Control;2006-06
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