The Design of GPS/SINS Integrated Navigation System Based on UPF

LI Yan-yan; ZHANG Wei

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The Design of GPS/SINS Integrated Navigation System Based on UPF

更新时间：2026-09-04

- The Design of GPS/SINS Integrated Navigation System Based on UPF
- Vol. 31, Issue 9, Pages: 80-83(2014)
- 作者机构：
  
  电子科技大学电子科学技术研究院,四川,成都,611731
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2014
- 稿件说明：
移动端阅览
李妍妍, 张伟. 基于UPF的GPS/SINS组合导航系统设计[J]. 微电子学与计算机, 2014, 31(9): 80-83.

LI Yan-yan, ZHANG Wei. The Design of GPS/SINS Integrated Navigation System Based on UPF[J]. 2014, 31(9): 80-83.
李妍妍, 张伟. 基于UPF的GPS/SINS组合导航系统设计[J]. 微电子学与计算机, 2014, 31(9): 80-83. DOI：

LI Yan-yan, ZHANG Wei. The Design of GPS/SINS Integrated Navigation System Based on UPF[J]. 2014, 31(9): 80-83. DOI：

摘要

建立了GPS/INS非线性误差模型

利用UPF滤波算法实现了该组合系统定位功能

一方面针对UKF估计误差协方差极易非正定的问题进行了正定化处理;另一方面在粒子滤波环节针对重采样导致的粒子多样性降低的问题

增加了MCMC移动步骤.实验结果表明:应用UPF实现的组合导航系统定位精度明显优于EKF和UKF

且定位误差波动幅度较小

既能够满足非线性系统的导航精度要求

又能够满足定位系统对滤波稳定性的要求.

Abstract

The un-linear error model with GPS/INS has been built

and the UPF has used to make the function of position of integrated navigation realized.In order to solve the problem of the non-positive definite of estimation error covariance in UKF

the positive processing has been adopted.In additional

MCMC has been adopted to decrease the particles impoverishment.The experiment results show that:UPF has better accuracy than UKF and EKF

and the fluctuation of the error is rather small

which make the accuracy and robust requirements of the navigation system on satisfied.

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