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在车载导航系统中,通常采用EKF作为状态估计方法提高导航的精度。由于EKF进行非线性估计存在一些缺陷,因此将其用于导航系统的非线性估计时,存在估计误差,从而影响导航系统的精度。为了获得更高的导航精度,将一种新的滤波方法—UKF方法用于车载导航系统的状态估计中。对一个车载DR/GPS组合系统,将EKF和UKF方法分别进行了滤波仿真。仿真结果表明:在车载导航状态估计中,UKF方法优于EKF方法。
In the car navigation system, EKF is usually used as a state estimation method to improve the navigation accuracy. Because of some shortcomings of EKF in nonlinear estimation, when it is used in nonlinear estimation of navigation system, there is estimation error and thus the accuracy of navigation system. In order to obtain higher navigation accuracy, a new filtering method-UKF method is applied to the state estimation of vehicle navigation system. For a car DR / GPS combination system, the EKF and UKF methods are respectively filtered and simulated. Simulation results show that UKF method is superior to EKF method in vehicle navigation state estimation.