An adaptive UKF algorithm and its application for vehicle integrated navigation system

In order to overcome the problems existing in Kalman filter(KF), extended Kalman filter(EKF) and unscented Kalman filter(UKF) in the vehicle integrated navigation system, a method is adopted to solve this problem. UKF algorithm is introduced, and an improved UKF was presented which is an adapted factor is introduced in UKF. It is shown, in vehicle integrated navigation system, UKF is superior to the EKF, AUKF is better than UKF, AUKF has better in reducing sensitivity of the process and the initial value of the statistical characteristics of the noise and the accuracy, reliability of the navigation solution.