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论文:2012,Vol:30,Issue(5):734-738 |
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引用本文： |
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高怡, 高社生, 冯志华. 一种新的非线性模型预测UPF算法[J]. 西北工业大学 |
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Gao Yi, Gao Shesheng, Feng Zhihua. Exploring an Effective Nonlinear Model Predictive Unscented Particle Filtering (NMPUPF) Algorithm[J]. Northwestern polytechnical university |
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| 一种新的非线性模型预测UPF算法 |
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| 高怡, 高社生, 冯志华 |
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| 西北工业大学 自动化学院, 陕西 西安 710072 |
| 摘要: |
| 针对现有导航解算中将模型误差作为过程噪声,并假设为高斯白噪声来处理,可能会引起较大的估计误差,甚至导致滤波器发散的问题。文章以提高导航解算精度为目的,在吸收非线性预测滤波和粒子滤波优点的基础上,提出一种新的非线性模型预测Unscented粒子滤波算法。该算法在建立系统模型时顾及了模型误差,对模型误差进行实时估计,并利用该估计值对包含模型误差的非线性、非高斯系统模型进行修正,从而提高了导航解算精度。将提出的算法应用于捷联惯性导航(SINS)/合成孔径雷达(SAR)组合导航系统进行仿真验证,并与预测滤波和Unscented粒子滤波进行比较,结果表明,提出的新算法不但滤波性能明显优于预测滤波和Unscented粒子滤波,而且能提高导航解算精度。 |
| 关键词:
模型误差
预测滤波
Unscented粒子滤
模型预测Unscented粒子滤波
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| Exploring an Effective Nonlinear Model Predictive Unscented Particle Filtering (NMPUPF) Algorithm |
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| Gao Yi, Gao Shesheng, Feng Zhihua |
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| Department of Automatics Control,Northwestern Polytechnical University,Xi'an 710072,China |
| Abstract: |
| In navigation calculations, model error is assumed as some kind of noise for Gaussian white noise to process, thus causing large state estimation error of nonlinear filtering system and even divergence.We present anew NMPUPF algorithm based on predictive filtering and unscented particle filtering to improve the accuracy of nav-igation calculations.Section 1 of the full paper explains our NMPUPF algorithm, which we believe is new and effec-tive.Section 1 gives a fairly detailed 6-step procedure for using our new algorithm.The core of the 6-step procedureconsists of: (1) initialization, (2) calculating state estimation which includes the model error, (3) calculating es-timation of systematical output vector, (4) calculating model error, (5) correcting nonlinear system model, (6)recycle calculations.Simulation results, presented in Figs.1 through 4, and their analysis demonstrate preliminarilythat the proposed algorithm is indeed effective for filtering calculations based on nonlinear and non-Gaussian systemmodel, thus improving significantly the filter performance and integrated navigation calculation accuracy. |
| Key words:
algorithms
calculations
computer simulation
errors
inertial navigation systems
Kalman filters
mathematical models
nonlinear systems
real time systems
state estimation
synthetic aperture ra-dar;model error
Nonlinear Model Predictive Unscented Particle Filtering(NMPUPF)
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| 收稿日期: 2011-11-12
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金(61174193);陕西省自然科学基金(NBYU0004)资助 |
| 通讯作者:
Email： |
| 作者简介: 高怡(1978-)，女，西北工业大学博士研究生，主要从事控制理论与控制工程研究。
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| 作者相关文章 |
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| 高怡 在本刊中的所有文章 |
| 高社生 在本刊中的所有文章 |
| 冯志华 在本刊中的所有文章 |
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参考文献: |
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