测绘通报 ›› 2019, Vol. 0 ›› Issue (5): 83-87,101.doi: 10.13474/j.cnki.11-2246.2019.0154

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Research on the algorithm of modified augmented state unscented Kalman filter

REN Xiaobin1, NIE Guigen1, LI Lianyan2, CHEN Zuan3, LEI Haochuan4   

  1. 1. GNSS Research Center, Wuhan University, Wuhan 430079, China;
    2. School of Civil Engineering, Wuhan University, Wuhan 430079, China;
    3. Urban and Rural Planning Bureau, Badong 444300, China;
    4. Geological Engineering Department, Qinghai University, Xining 810016, China
  • Received:2018-10-08 Online:2019-05-25 Published:2019-06-04

Abstract:

In pulsar navigation, angular position error is one of the main sources of error. Therefore, based on X-ray pulsar navigation, MASUKF filtering algorithm is proposed to improve the angular position error. Based on the original ASUKF algorithm, the MASUKF algorithm adds the high-order term of the Roamer delay as an error term, and substitutes the modified error term into the state equation and measurement. In the equation, simulation analysis can be performed. In the simulation, the ASUKF algorithm is first compared with the UKF algorithm for simulation experiments. The results show that the ASUKF algorithm can significantly improve the positioning accuracy of about 45 m, and the speed error in the X, Y, and Z directions. The estimation accuracy is improved by about 20%. Then, the ASUKF and MASUKF algorithms are compared. The results show that the velocity accuracy and position error estimation accuracy of the MASUKF algorithm are more than 2% higher than the ASUKF algorithm.

Key words: UKF, ASUKF, MASUKF, X-ray pulsar-based navigation, error term

CLC Number: