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为了提高标准Unscented卡尔曼滤波(UKF)计算效率,本文对标准UKF采样点计算方法进行改进,使状态更新过程中的多次积分过程简化为一次积分过程,并证明了标准UKF和改进UKF的等效性.计算机仿真结果表明,在计算精度一致(位置确定精度约为70m,速度确定精度约为0.005m/s)的情况下,改进UKF的计算效率是标准UKF的5倍.
In order to improve the computational efficiency of the standard Unscented Kalman Filter (UKF), this paper improves the standard UKF sampling point calculation method, simplifies the multiple integration process in the process of state updating to a single integration process and proves that the standard UKF and the improved UKF The simulation results show that the computational efficiency of the improved UKF is five times that of the standard UKF with the same accuracy (the position determination accuracy is about 70m and the speed determination accuracy is about 0.005m / s).