Abstract：We introduce the principle of adaptive estimation into the UKF algorithm to obtain an improved UKF algorithm. This algorithm can adjust the weight of the system model information in the navigation solution adaptively so as to reduce the influence of filter’s initial value deviation and system model abnormal disturbance on navigation solution. By applying the improved UKF algorithm to BDS/SINS integrated navigation, the simulation results not only verify the effectiveness of the improved UKF, but also show that the improved UKF can improve the accuracy of integrated navigation system.
