A Simulation of INS/GPS Based on Unscented Kalman Filter
Zhongliang Jing · Science Technology and Engineering · 2011
The Unscented Kalman Filter(UKF) is introduced to solve the filtering problem in the tight coupling of INS/GPS integrated navigation system,and avoid the linearization for nonlinear system equations.The adaptive estimation principle is applied for UKF to set up an adaptive UKF.The Extended Kalman Filter(EKF),UKF and the adaptive UKF are all applied to the INS/GPS integrated system.The simulation results show that the adaptive UKF provide higher convergence rate and estimation precision,and improve the robustness of the system.