Error estimation method of SINS based on UKF in terrain-aided navigation

机译：基于UKF的地形辅助导航捷联惯导误差估计方法

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Sins has accumulated some error when UUV entered in matching region, so it is necessary to make use of appropriate signal integration strategy to estimate error for ensuring the precision of subsequent sailing. On base of building system nonlinear error model, UKF filter was proposed which used the information from underwater terrain matching and depth pressure sensor as measure. simulation results indicate that the proposed filter has preferable estimation precision, which can provide reference for sins error estimation in matching region.

机译：当UUV进入匹配区域时，罪孽积累了一些误差，因此有必要使用适当的信号积分策略来估计误差，以确保后续航行的准确性。在建筑系统非线性误差模型的基础上，提出了UKF滤波器，该滤波器利用水下地形匹配信息和深度压力传感器的信息作为度量。仿真结果表明，该滤波器具有较好的估计精度，可为匹配区域的正弦误差估计提供参考。

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《2011 International Conference on Mechatronic Science, Electric Engineering and Computer》|2011年|p.2498-2501|共4页
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Heng Li; Jing-yuan Zhang; Jian Shen;
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正文语种
中图分类机电一体化;
关键词
strap down inertial navigation system (SINS); terrain matching; terrain-aided navigation (TAN); unscented kalman filter (UKF);

机译：捷联惯性导航系统（SINS）;地形匹配;地形辅助导航（TAN）;无味卡尔曼滤波器（UKF）;

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2. SINS/CNS/GPS integrated navigation algorithm based on UKF [J] . Hu Haidong, Huang Xianlin Systems Engineering and Electronics, Journal of . 2010,第1期

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3. SINS/CNS/GPS integrated navigation algorithm based on UKF [J] . Haidong Hu, Xianlin Huang 系统工程与电子技术：英文版 . 2010,第001期

机译：基于UKF的SINS / CNS / GPS组合导航算法
4. Error estimation method of SINS based on UKF in terrain-aided navigation [C] . Heng Li, Jing-yuan Zhang, Jian Shen International Conference on Mechatronic Science, Electric Engineering and Computer . 2011

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Error estimation method of SINS based on UKF in terrain-aided navigation

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