Improved UKF Algorithm for BDS/SINS Integrated Navigation System
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.
Key words :
integrated navigation
improved UKF algorithm
adaptive estimation
BDS
Cite this article:
MA Xiaojie,LIN Xueyuan,SUN Qiaoyan et al. Improved UKF Algorithm for BDS/SINS Integrated Navigation System[J]. jgg, 2021, 41(4): 351-356.
MA Xiaojie,LIN Xueyuan,SUN Qiaoyan et al. Improved UKF Algorithm for BDS/SINS Integrated Navigation System[J]. jgg, 2021, 41(4): 351-356.
URL:
http://www.jgg09.com/EN/ OR http://www.jgg09.com/EN/Y2021/V41/I4/351
[1]
GAO Meng,WANG Shunshun,WANG Cao,ZHU Huizhong,XU Aigong. Research on the Algorithm of Triple-Frequency BDS RTK between Middle-Range Baseline [J]. jgg, 2022, 42(1): 5-8.
[2]
ZHU Huizhong,ZHANG Xinyang,YANG Hu,TANG Longjiang,LI Jun. Analysis of GEO Satellites on BDS High-Precision Relative Positioning Performance [J]. jgg, 2021, 41(8): 795-799.
[3]
YUAN Debao,ZHANG Jian,ZHANG Zhenchao,WEI Shengtao. BDS Clock Error Prediction Based on SAFA-FDGM(1,1) Model [J]. jgg, 2021, 41(7): 672-675.
[4]
LIU Lili,LIN Xueyuan,YU Feng,CHEN Xiangguang. A Filtering Method of SINS/CNS/GNSS Integrated Navigation System [J]. jgg, 2021, 41(7): 676-681.
[5]
ZHAO Wenhao,LIU Genyou,WANG Shengliang,GAO Ming. GPS-L1/BDS-B1 Non-Overlapping Frequency Tight Combination Relative Positioning [J]. jgg, 2021, 41(6): 618-622.
[6]
HU Jie,WANG Zihui,ZHU Yixian. Differential Beidou/SINS Integrated Navigation for Airfield Vehicle Based on Motion Detection [J]. jgg, 2021, 41(4): 346-350.
[7]
DING Yitao,GUO Meijun. Accuracy Analysis of Beidou Ionosphere Model [J]. jgg, 2021, 41(2): 131-139.
[8]
HU Yan,WANG Desheng,YANG Yufeng. BDS-3 Ultra-Rapid Clock Offset Prediction Based on EM Algorithm Optimized Relevance Vector Machine [J]. jgg, 2021, 41(12): 1230-1234.
[9]
GUAN Xiaoguo,CHAI Hongzhou,HAN Shijing,QIAN Yuelei. Quality Check Method for Marine Precise Point Positioning Based on Cross Validation between Systems [J]. jgg, 2021, 41(12): 1235-1240.
[10]
LI Yuzhao,YAN Haowen,YNAG Weifang,WANG Shijie. Ambiguity Resolution of BDS Long Baseline Based on Fuzzy Clustering Analysis Method [J]. jgg, 2021, 41(10): 1040-1044.
[11]
GAO Meng,XU Aigong,ZHU Huizhong,GE Maorong,TANG Longjiang. The Algorithm of Triple-Frequency Integer Ambiguity Resolution for Low Elevation Angle Satellite between BDS Reference Stations [J]. jgg, 2021, 41(10): 1035-1039.
[12]
MA Xiangtai,ZHONG Shiming,ZHANG Jie,HU Fushuai. Accuracy Analysis of Doppler Velocimetry and Kinematic PPP Velocity Determination with BDS/GPS [J]. jgg, 2021, 41(1): 34-38.
[13]
MAO Yue,ZHU Yongxing,SONG Xiaoyong. Accuracy Analysis of Broadcast Ionosphere Model of Global Navigation Satellite System
[J]. jgg, 2020, 40(9): 888-891.
[14]
ZHANG Qiankun, LIU Xiaosheng. An Optimization Method for Single Point Positioning Stochastic Model of Beidou Hybrid System [J]. jgg, 2020, 40(7): 756-760.
[15]
WANG Qiang,YUAN Yige,MA Jianfeng,WANG Liang. Preliminary Assessment and Comparison of Positioning Performance between Typical Low-Cost Navigational and Geodetic BDS Terminals
[J]. jgg, 2020, 40(4): 381-365.