An Adaptive UKF Method for Geomagnetic/Celestial Autonomous Navigation
- 10.2991/amsm-16.2016.59How to use a DOI?
- geomagnetic filed; navigation precision; geomagnetic/celestial autonomous navigation; adaptive UKF
An adaptive unscented Kalman filtering(UKF) method for geomagnetic/celestial autonomous navigation is presented to solve the problem that the conventional UKF is sensitive to the initial value and declines in accuracy and further diverges due to the system model inaccuracy. Firstly, the residual sum of squares of observations is taken as the criteria to determine the trend of filter divergence. When the residual sum of squares of observations is more than theoretical prediction, an adaptive factor is chosen to adjust the con-variance matrixes of state vectors and observed vectors adaptively in order to reduce the impact on filtering caused by initial value and inaccuracy of the system model. Simulation results show that adaptive UKF can restrain filter divergence efficiently, ensure convergence and stability of the filter and improve the precision of the autonomous navigation method using geomagnetism/celestial information under the condition of large initial errors or system model inaccuracy.
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Chang Su AU - Baohua Li AU - Qiang Zhang AU - Qi Sun PY - 2016/05 DA - 2016/05 TI - An Adaptive UKF Method for Geomagnetic/Celestial Autonomous Navigation BT - Proceedings of the 2016 International Conference on Applied Mathematics, Simulation and Modelling PB - Atlantis Press SP - 265 EP - 270 SN - 2352-538X UR - https://doi.org/10.2991/amsm-16.2016.59 DO - 10.2991/amsm-16.2016.59 ID - Su2016/05 ER -