[1]张 文,孙瑞胜.EKF与UKF的性能比较及应用[J].南京理工大学学报(自然科学版),2015,39(05):614.
 Zhang Wen,Sun Ruisheng.Research on performance comparison of EKF and UKF and their application[J].Journal of Nanjing University of Science and Technology,2015,39(05):614.
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EKF与UKF的性能比较及应用
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
39卷
期数:
2015年05期
页码:
614
栏目:
出版日期:
2015-10-31

文章信息/Info

Title:
Research on performance comparison of EKF and UKF and their application
作者:
张 文1孙瑞胜2
南京理工大学 1.泰州科技学院,江苏 泰州 225300;
2.能源与动力工程学院,江苏 南京 210094
Author(s):
Zhang Wen1Sun Ruisheng2
1.Taizhou Institude of Science and Technology,Taizhou 225300,China;
2.School of Energy and Power Engineering,NUST,Nanjing 210094,China
关键词:
非线性滤波 扩展卡尔曼滤波 无迹卡尔曼滤波
Keywords:
nonlinear filtering extended Kalman filter unscented Kalman filter
分类号:
TP212
摘要:
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。
Abstract:
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.

参考文献/References:

[1] 尹小杰,朱斌,樊键.无迹Kalman滤波器及其目标跟踪应用[J].测控技术,2006,25(8):73-75.
Yin Xiaojie, Zhu Bin, Fan Jian. Unscented Kalmanfilter and its application to target tracking[J].Measurement and Control Technique,2006,25(8):73-75.
[2]沈忠,俞文伯,房建成.基于UKF的低成本SINS/GPS组合导航系统滤波算法[J].系统工程与电子技术,2007,29(3):408-411.
Shen Zhong,Yu Wenbo,Fang Jiancheng.Nonlinear algorithm based on UKF for low cost SINS/GPS integrated navigation system[J].Systems Engineering and Electronics,2007,29(3):408-411.
[3]徐慧娟,吴美平,罗兵.EKF和UKF在INS/GPS组合导航中的应用分析[J].航天控制,2006,24(6):7-10.
Xu Huijuan,Wu Meiping,Luo Bing.Analysis of extended and uscented Kalman filtering for INS/GPS integration[J].Aerospace Control,2006,24(6):7-10.
[4]张卫明,张继惟,范子杰,等.UKF方法在惯性导航系统初始对准中的应用研究[J].系统工程与电子技术,2007,29(4):589-592.
Zhang Weiming,Zhang Jiwei,Fan Zijie,et al.Research of unscented Kalman filter in initial alignment of inertial navigation systems[J].Systems Engineering and Electronics,2007,29(4):589-592.
[5]傅群忠,薛晓中.基于新型滤波器HABF的SINS传递对准仿真[J].中国惯性技术学报,2007,5(3):273-277.
Fu Qunzhong,Xue Xiaozhong.Simulation of SINS transfer alignment based on hybrid annealed particle filter [J].Journal of Chinese Inertial Technology,2007,5(3):273-277.

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备注/Memo

备注/Memo:
收稿日期:2014-11-19 修回日期:2015-05-12
基金项目:国家自然科学基金(11176012)
作者简介:张文(1982-),女,硕士,讲师,主要研究方向:组合导航技术,E-mail:18814219@qq.com; 通讯作者:孙瑞胜(1978-),男,副教授,主要研究方向:先进弹箭导航、制导与控制技术,E-mail:srscom@163.com。
引文格式:张文,孙瑞胜.EKF与UKF的性能比较及应用[J].南京理工大学学报,2015,39(5):614-618.
投稿网址:http://zrxuebao.njust.edu.cn
DOI:10.14177/j.cnki.32-1397n.2015.39.05.017
更新日期/Last Update: 2015-10-31