南京理工大学学报(自然科学版)
南京理工大學學報(自然科學版)
남경리공대학학보(자연과학판)
Journal of Nanjing University of Science and Technology
2015年
5期
614-618
,共5页
非线性滤波%扩展卡尔曼滤波%无迹卡尔曼滤波
非線性濾波%擴展卡爾曼濾波%無跡卡爾曼濾波
비선성려파%확전잡이만려파%무적잡이만려파
nonlinear filtering%extended Kalman filter%unscented Kalman filter
该文分析了扩展卡尔曼滤波(EKF)、无迹卡尔曼滤波(UKF)的基本原理和特点,并以跟踪系统和捷联惯导系统( SINS)的动基座对准为对象,分别采用这两种算法对其进行了仿真。仿真结果表明,UKF的滤波精度高于EKF,说明对于强非线性系统,UKF比EKF具有更强的优越性,可以广泛应用在目标跟踪系统和航天航空领域。
該文分析瞭擴展卡爾曼濾波(EKF)、無跡卡爾曼濾波(UKF)的基本原理和特點,併以跟蹤繫統和捷聯慣導繫統( SINS)的動基座對準為對象,分彆採用這兩種算法對其進行瞭倣真。倣真結果錶明,UKF的濾波精度高于EKF,說明對于彊非線性繫統,UKF比EKF具有更彊的優越性,可以廣汎應用在目標跟蹤繫統和航天航空領域。
해문분석료확전잡이만려파(EKF)、무적잡이만려파(UKF)적기본원리화특점,병이근종계통화첩련관도계통( SINS)적동기좌대준위대상,분별채용저량충산법대기진행료방진。방진결과표명,UKF적려파정도고우EKF,설명대우강비선성계통,UKF비EKF구유경강적우월성,가이엄범응용재목표근종계통화항천항공영역。
This paper especially analyzes the basic principles and characteristics of extended Kalman filter(EKF)and unscented Kalman filter(UKF). Simulations are made in one-dimensional nonlinear tracking system and the moving base of strapedown inertial navigation systems(SINS)alignment. The results demonstrate that the precision of UKF is higher than that of EKF for the nonlinear system,and it can be widely used for the target tracking and the aerospace.