A Simplified UKF Algorithm for SINS/GPS/CNS Integrated Navigation System in Launch Inertial Coordinate System

PAN Jia-liang;XIONG Zhi;WANG Li-na;YU Feng;ZHAO Hui;LIN Ai-jun

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  • Sponsored by: China Association for Science and Technology (CAST)

    Editor-In-Chief: Xu Yida

    ISSN 1000-1093

    　

  • Hosted By: China Ordnance Society

    Published By: Acta Armamentarii

    CN 11-2176/TJ

Acta Armamentarii, a Chinese monthly journal, was first published in 1979. The journal is supervised by China Association for Science and Technology, sponsored by China Ordnance Society，and edited and published by Editorial Board of Acta Armamentarii. The Journal is included in all important domestic databases，and also collected by Engineering Index (EI, USA), Chemical Abstracts (CA, USA), Science Abstracts (SA, UK）, Abstract Journal (AJ, Russia), and Current Bibliography on Science and Technology(CBST).Acta Armamentarii has been selected into the journal Of Ordnance Science and Technology (Weapons Industry) Field Of High Quality Scientific and Technological Periodical Classification Catalogue (2022 edition), ranking T1, and the journal of Automotive Engineering Field of High Quality Scientific and technological Periodical classification Catalogue, ranking T2.
Acta Armamentarii ›› 2015, Vol. 36 ›› Issue (3) : 484-491. DOI: 10.3969/j.issn.1000-1093.2015.03.016
Paper

A Simplified UKF Algorithm for SINS/GPS/CNS Integrated Navigation System in Launch Inertial Coordinate System

  • PAN Jia-liang1， XIONG Zhi1,WANG Li-na2,YU Feng3,ZHAO Hui1, LIN Ai-jun1
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Abstract

Each state of integrated navigation system is strongly nonlinear and coupled with each other under missile-borne high-dynamic environment. Since the traditional extended Kalman filter algorithm ignors the interaction of higher order terms, its linear expansion may teads to its inaccuracy and the decrease in navigation precision. UKF algorithm can effectively avoid bringing a linearization error, but the real-time of the algorithm can be affected by the complex filtering calculation for a large number of particles in high-dimensional integrated navigation system. A simplified unscented Kalman filter (SUKF) algorithm is proposed for the requirement of high real-time and accuracy for the missile-borne integrated navigation system in launch inertial coordinate system. SUKF can be used to directly estimates the state parameters of the navigation system to achieve the real-time and improve the navigation precision without linearization extension in traditional EKF. The simulation results show that SUKF effectively improves the real-time and filtering precision of algorithm, so SUKF is very suitable for the actual engineering system.

Key words

control science and technology / unscented Kalman filter / simplified unscented Kalman filter / SINS / GPS / CNS / integrated navigation

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PAN Jia-liang， XIONG Zhi,WANG Li-na,YU Feng,ZHAO Hui, LIN Ai-jun. A Simplified UKF Algorithm for SINS/GPS/CNS Integrated Navigation System in Launch Inertial Coordinate System. Acta Armamentarii. 2015, 36(3): 484-491 https://doi.org/10.3969/j.issn.1000-1093.2015.03.016

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