Integrated Localization Algorithm for DGPS/DR Based on SUT-EKF

Aiming at the integrated localization issue for mobile robot based on DGPS/DR,an algorithm based on scale unscented transformation and extended Kalman filter(SUT-EKF)is used.For the characteristic of nonlinear state equation and linear measurement equation,the robot location can be predicted by SUT and can be updated with new observations by EKF.The algorithm doesn't compute the Jacobian matrix,it can decrease effectively the error of nonlinear system brought by the linearization.Simulation results show that the new algorithm has better filtering precision and stability.