摘要全球导航系统与捷联惯性导航作为重要的导航方式已经取得广泛应用。由于组合导航能够降低成本的同时增强导航精度，目前已经成为导航技术的重要发展方向。SINS-GPS 组合导航系统结合了SINS 的可靠性高和 GPS 的长期高精度的特点，近年来受到广泛重视并已取得一系列成功应用。因此，研究非线性滤波在SINS-GPS组合导航中的应用有很实际的意义。

本文首先介绍了导航与滤波理论的发展和应用，之后建立了SINS-GPS组合导航非线性误差模型。对于非线性系统中卡尔曼滤波不能使用的问题，本文给出了扩展卡尔曼滤波(EKF)和Unscented卡尔曼滤波(UKF)两种非线性滤波算法。作为本论文最为关注的非线性滤波方法，Unscented卡尔曼滤波和扩展卡尔曼滤波需要的计算量同阶而且实现方便精度更高，自出现以来就广受理论工作者和工程技术人员的欢迎。论文中完整地描述了这个算法并就它的性能表现给出了分析。最后，本文对组合导航做了UKF算法的仿真，仿真证明该滤波算法是有效的。66789

毕业论文关键词：  组合导航 ，非线性滤波，UKF

毕业设计说明书（论文）外文摘要

Title      The application research of nonlinear filter in SINS-GPS integrated navigation                    

Abstract

GPS and SINS have been widely used as important ways of navigation.Integrated navigation can reduce the cost and enhance navigation precision ,for what it has become an important developing direction of navigation technology. SINS -GPS integrated navigation system is a combination of high reliability characteristics of GPS and long-term high precision characteristics of GPS, which is accorded wide-ranging emphasis in recent years, and it has set up a series of successful application. As a result, the research of nonlinear filter in the application in SINS-GPS integrated navigation has a very practical significance.

Firstly this paper introduces development and application of the navigation and filtering theory. Then the nonlinear error model of SINS-GPS integrated navigation has been built. For nonlinear systems,kalman filtering cannot be used. This paper gives the EKF and UKF two nonlinear filtering algorithm. As the most high-profile nonlinear filtering method in this paper, UKF requires the same calculation of the quantity as EKF and shows higher precision, since there are widely popular among theoretical workers and engineers. This paper fully describes the algorithm and its performance analysis are given.At last, this paper makes simulation of UKF algorithm for integrated navigation,which proves that the filtering algorithm is effective.

Keywords:  integrated navigation ,nonlinear filter ,UKF

目  次

1 绪论 1

1.1 课题研究的背景和意义 1

1.3 组合导航国内外研究现状 5

1.4论文的研究内容和组织结构 5

2 组合导航系统建模 7

2.1 引言 7

2.2 SINS-GPS 组合导航 7

2.3 SINS-GPS组合导航非线性误差方程 10

2.4本章小结 18

3 组合导航中的非线性滤波方法 19

3.1引言 19

3.2最优递推滤波问题 19

3.3 扩展卡尔曼滤波 20

3.4 Unsented 卡尔曼滤波