基于UKF的新型北斗/SINS组合系统直接法卡尔曼滤波

汪秋婷，胡修林

Improved Kalman filtering algorithm for passiveBD/SINS 
integrated navigation system based on UKF

WANG Qiu-ting, HU Xiu-lin

Journal of Systems Engineering and Electronics . 2010, (2): 376 -379 .