| UKF滤波技术在AUV组合导航中的应用研究 |
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| 引用本文： | 练军想,吴文启,李涛,胡小平.UKF滤波技术在AUV组合导航中的应用研究[J].中国惯性技术学报,2005,13(1):30-34. |
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| 作者姓名： | 练军想 吴文启 李涛 胡小平 |
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| 作者单位： | 国防科技大学机电工程与自动化学院,长沙,410073 |
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| 摘 要： | 高精度的导航定位是AUV研究中所面临的主要挑战之一。采用GPS辅助的INS／DVL组合导航是目前AUV的主流导航模式。当前实现GPS／INS／DVL组合导航的技术主要有航迹推算(DR)和卡尔曼滤波。中将UKF(Unscented Kalman Filter)滤波技术应用于AUV组合导航，并把UKF与传统的DR和EKF(Extended Kalman filter)方法进行了仿真比较研究。仿真结果表明，UKF在计算量上与EKF相当，但是UKF的位置、航向估计精度都要优于DR和EKF。
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| 关 键 词： | 组合导航 滤波技术 INS 仿真结果 估计精度 卡尔曼滤波 DR AUV 航迹推算 DVL |
| 文章编号： | 1005-6734(2005)01-0030-05 |
| 修稿时间： | 2004年11月27 |
Application of Unscented Kalman Filter in AUV Integrated Navigation |
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| LIAN Jun-xiang,WU Wen-qi,LI Tao,HU Xiao-ping.Application of Unscented Kalman Filter in AUV Integrated Navigation[J].Journal of Chinese Inertial Technology,2005,13(1):30-34. |
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| Authors: | LIAN Jun-xiang WU Wen-qi LI Tao HU Xiao-ping |
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| Abstract: | High precision navigation is one of the primary challenges in Autonomous underwater vehicle (AUV) research. Nowadays, GPS aided INS/DVL (Inertial Navigation System / Doppler Velocity Log) integrated navigation is the popular mode in AUV navigation. Two of the most common methods of AUV integrated navigation are known as the Dead-Reckoning (DR) and the Kalman filter. The UKF(unscented Kalman filter)is applied to the AUV integrated navigation. As compared with the DR and EKF, the simulation result shows that the UKF is more accurate than the first two and with comparable compute cost. |
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| Keywords: | integrated navigation unscented Kalman filter extended Kalman filter dead-reckoning AUV |
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