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浏览/检索结果: 共1条，第1-1条 帮助 已选(0)清除 条数/页：5101520253035404550556065707580859095100   排序方式：请选择作者升序作者降序题名升序题名降序发表日期升序发表日期降序提交时间升序提交时间降序 Application of adaptive UKF in initial alignment of MINS/GPS integrated navigation system (EI CONFERENCE) 会议论文 2010 3rd International Conference on Advanced Computer Theory and Engineering, ICACTE 2010, August 20, 2010 - August 22, 2010, Chengdu, China Jiao W.-B.; Gao Q.; Su W.-X.; Wang M. 收藏  |  浏览/下载：23/0  |  提交时间：2013/03/25 In order to overcome the shortcomings of standard unscented Kalman filter (UKF)  which are obviously influenced by the error of initial value and the model error of system  adaptive UKF which is based on the adaptive principle is applied in initial alignment of the MINS/GPS integrated navigation system. Coarse alignment cannot be done by micro inertial measurement unit (MIMU) itself because of its low precision  the method of using magnetometer to assist it with coarse alignment is presented. Simulation results show that the adaptive UKF can overcome the influences of initial values error and inaccurate system model  and improve the convergence speed and alignment accuracy effectively. 2010 IEEE.