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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.
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