Research on a Strong Tracking GPS/SINS Deeply Integrated AUKF Filtering Method

Lin Han, Shuai Chen, Longjiang Fan

Aiming at characteristics of Ballistic missile, the GPS/SINS deeply integrated navigation algorithm based on Strong Tracking Adaptive Unscented Kalman Filter (STAUKF) in the Launch inertial coordinates is studied in this paper. The algorithm is based on the thought of fading, by introducing suboptimal multiple fading matrix into UKF filter, perform real-time adjustment on the error covariance of predicted state adaptively, so as to achieve strong tracking of the rapidly changing state. Ballistic trajectory simulation results show that suboptimal multiple fading matrix were introduced into UKF can make better use of prior information and it has stronger tracking ability for highly maneuvering targets. The improved algorithm ensures the original UKF filtering algorithm accuracy, at the same time, the system error is shown to converge in a shorter period of time.