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《Chinese Journal of Sensors and Actuators》 2007-04
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Application of UKF in Direct Method of Kalman Filter for INS/GPS

YANG Bo1,QIN Yong-yuan1,CHAI Yan2 1.College of Automation,Northwestern Polytechnical University,Xi'an 710072,China;2.College of Materials,Northwestern Polytechnical University,Xi'an 710072,China  
In order to avoid the linearization for nonlinear state equations,Unscented Kalman Filter(UKF)was applied to the direct method of Kalman filter for INS/GPS integrated navigation system.Navigation parameters from INS and error angles of platform were chosen as the states of the system,the navigation calculating equations and attitude error equations of INS were the state equations,and navigation parameters from GPS were the measurements.UKF was used to estimate navigation parameters of the integrated system directly.Simulation results show that,UKF effectively solve the nonlinearity problem of state equations in the direct method of Kalman filter,and INS/GPS integrated navigation system has high navigation accuracy by UKF.
【CateGory Index】: V249.322
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Chinese Journal Full-text Database 4 Hits
1 Zhu Hong Guan Guixia Tian Jianzhong Guan Yong(College of Information Engineering,Capital Normal University,Beijing 100037,China);NON-LINEAR STATE ESTIMATION FOR GPS-DR INTEGRATED NAVIGATION BASED ON UKF[J];Computer Applications and Software;2008-12
2 LIU Ming,LIU Yu,SU Bao-ku(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China.);Application of improved UKF in error model identification of inertial navigation platform[J];Control and Decision;2009-01
3 SUI Shu-lin,XU Yun-bin,CAO Meng-long(College of Automation and Electronic Engineering,Qingdao University of Science and Technology,Qingdao 266042,China);Integrated Navigation Algorithm Based on IMM-EKF[J];Journal of Qingdao University of Science and Technology(Natural Science Edition);2009-05
4 ZHU HONG GUAN YONG GUAN GUIXIA;UKF-based Vehicle Integrated Positioning[J];Microcomputer Information;2007-36
Chinese Journal Full-text Database 2 Hits
1 WANG Shu yi, CHENG Yang, YANG Di, CUI Hu tao (Department of Astronautics and Mechanics, Harbin Institute of Technology, Harbin 150001, China);UKF and Its Application to Bearings-Only Tracking Problem[J];Flight Dynamics;2003-02
2 WANG Jian-qi, CAO Xi-bin, SUN Zhao-wei (Department of Astronautics and Mechanics, Harbin Institute of Technology,Harbin 150001,China);Research on Spacecraft Autonomous Navigation Based on UKF Algorithm[J];Flight Dynamics;2004-02
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2 Liu Xu Zhang Qishan Yang Dongkai(School of Electronics and Information Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100083,China);Nonlinear filter algorithm for GPS/DR integrated positioning[J];Journal of Beijing University of Aeronautics and Astronautics;2007-02
3 YANG Bo,QIN Yong-yuan~*,YAN Gong-min(College of Automation,Northwestern Polytechnical University,Xi'an 710072,China);Research and Simulation on the Integrated Navigation System for Train[J];Chinese Journal of Sensors and Actuators;2007-01
4 SHAO Ting-ting,MA Jian-cang ,HU Shi-feng,WANG Chao (college of Electronic And Information ,Northwestern Polytechnical University, Xi′an 710072 , China);Research on Tilt and Environment Error Compensation of Electronic Compass[J];Chinese Journal of Sensors and Actuators;2007-06
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6 LIU Ge-qun, XUE Yao-shun, LU Jing-chao, YAN Jian-guo (Coll of Automation,Northwestern Polytechnic University, Xi'an 710072,China);Application of magnetic heading sensor in UAV flight control system[J];Journal of Transducer Technology;2003-12
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8 Zhang Jun,Ding Renjie(Department of Electrical Engineering,Tsinghua University,Beijing 100084,China);Design and implementation of kind of data acquisition card based on DSP and AD7865[J];Electrical Measurement & Instrumentation;2004-06
9 Peng Yunxiang[KH*2〗(Beijing Institute of Control Device,Beijing,100085);The Development Tendency of Combination Technology of Strapdown Inertial Guidance and Navigation Satellite[J];MISSILES AND SPACE VEHICLES;1999-04
10 GUAN Xu-jun, RUI Guo-sheng (Department of Electronic Engineering, NAEI, Yantai 264001, China);Algorithm for passive locating by single station with application of UKF[J];Electronics Optics & Control;2004-01
【Secondary References】
Chinese Journal Full-text Database 2 Hits
1 GAO Jin-hui,WANG Xiao-chen,JIA Li-feng (College of Physics and Information Engineering,Henan Normal University,Xinxiang 453007,China);The Improvement on Kalman Filter Method for Vehicle GPS/DR Integrated Navigation System[J];Journal of Henan Normal University(Natural Science);2009-02
2 ZHU Hong,GUAN Gui-xia,GUAN Yong(College of Information Engineering,Capital Normal University,Beijing 100037,China);Vehicle GPS/DR information fusion based on Federal Kalman filter[J];Computer Engineering and Design;2008-20
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