An Adaptive UKF Method for Geomagnetic/Celestial Autonomous Navigation

DOI

10.2991/amsm-16.2016.59How to use a DOI?

Keywords

geomagnetic filed; navigation precision; geomagnetic/celestial autonomous navigation; adaptive UKF

Abstract

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.

Copyright

© 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/).

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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  -