DocumentCode
233776
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
fYear
2014
fDate
28-30 July 2014
Firstpage
787
Lastpage
791
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2014 33rd Chinese
Conference_Location
Nanjing
Type
conf
DOI
10.1109/ChiCC.2014.6896727
Filename
6896727
Link To Document