Title :
An adaptive UKF algorithm and its application for vehicle integrated navigation system
Author :
Wu Xiao-yan ; Song Chun-lei ; Chen Jia-bin ; Han Yong-qiang
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
In order to overcome the problems existing in Kalman filter(KF), extended Kalman filter(EKF) and unscented Kalman filter(UKF) in the vehicle integrated navigation system, a method is adopted to solve this problem. UKF algorithm is introduced, and an improved UKF was presented which is an adapted factor is introduced in UKF. It is shown, in vehicle integrated navigation system, UKF is superior to the EKF, AUKF is better than UKF, AUKF has better in reducing sensitivity of the process and the initial value of the statistical characteristics of the noise and the accuracy, reliability of the navigation solution.
Keywords :
Kalman filters; aerospace control; inertial navigation; nonlinear filters; path planning; adaptive UKF algorithm; extended Kalman filter; statistical characteristics; unscented Kalman filter; vehicle integrated navigation system; Accuracy; Equations; Kalman filters; Mathematical model; Navigation; Noise; adapted factor; extended Kalman filter; unscented Kalman filter; vehicle navigation;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896727
