Abstract An Adaptive Unscented Kalman Filter (AUKF) model using Innovation-based Adaptive Estimation (IAE) is implemented. A 21state filter using tightly coupled integration scheme is employed on the GNSS/INS simulation platform，several test schemes are designed based on different filter models, the result shows that the AUKF model can restrain the influence of the state estimation errors for adaptive estimation, and reduce abnormal errors, the accuracy and reliability of navigation system are improved obviously, and it has no negative impact on the efficiency. The positioning precision of multimode satellites systems increases by 49.38%.
$author.xingMing_EN,$author.xingMing_EN. STUDY ON ADAPTIVE UNSCENTED KALMAN FILTER AND ITS
APPLICATION TO GNSS/INS TIGHTLY COUPLED NAVIGATION [J]. jgg, 2013, 33(6): 98-102.
$author.xingMing_EN,$author.xingMing_EN. STUDY ON ADAPTIVE UNSCENTED KALMAN FILTER AND ITS
APPLICATION TO GNSS/INS TIGHTLY COUPLED NAVIGATION [J]. jgg, 2013, 33(6): 98-102.
