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《Chinese Journal of Sensors and Actuators》 2009-12
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A Fussy Adaptive UKF Algorithm Based on the Generic FLAC and Its Application

LI Jianwen,HAO Shunyi,HUANG Guorong Engineering Institute,Air Force Engineering University.,Xi'an 710038,China  
To consider the problem of non-linear UKF filtering under the circumstance of unknown covariance statistic of the measurement noise,a fussy adaptive UKF algorithm was presented based on the generic FLAC.On the foundation of standard UKF algorithm,the ratio of the theoretical value to the practical ones of the innovation's covariance was taken as the input of the FLAC to reduce the dependency of FLAC on the filter model,the generality of the fussy adaptive UKF algorithm was intensified;an exponential adjusting parameter was set in the procedure of adjusting the unknown covariance of measurement noise dynamically,the adjusted range could be amplified or minified to a different extent,so the adjusting velocity and precision of the algorithm was controlled.The algorithm was used in the GPS/DR integrated navigation system,simulation results show the efficiency of the algorithm.
【CateGory Index】: V249.328
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