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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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【References】
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
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【Citations】
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
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 Xiang Zheng Fu Li Fan Yuezu (School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China);Application of L-D factorization in calculating inverse in federated filter[J];Journal of Beijing University of Aeronautics and Astronautics;2003-08
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【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
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