Application of Unscented Kalman Filter in GPS /INS
作者： Xuhua Zhai , Fengjun Qi , Hongtao Zhang , Haifeng Xu
DOI: 10.1109/SOPO.2012.6270470
关键词:
摘要: Kalman Filter is an extremely effective and versatile procedure for combining noisy sensor outputs to estimate the state of a system with uncertain dynamics . In this paper, algorithm UFK（Unscented ) developed. By simulated experiment, EKF(Extended ),UKF without GPS latency compensation are compared. result，the UKF unbiased minimum variance. A UKF-based integrated navigation GPS/INS provides precise position orientation photogrammetric adjustment. turn, adjustment updates UKF.
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