中文摘要：

为解决无源北斗量测方程的非线性问题，提出将Unscented卡尔曼滤波（UKF）用于惯性导航系统（INS）／无源北斗组合导航系统，避免了利用传统的泰勒展开式逼近法对量测方程进行线性化处理所带来的截断误差。仿真结果表明，UKF方法有效地解决了卡尔曼滤波中系统量测方程的非线性问题，并使INS／无源北斗组合导航系统的导航精度得到大幅提高。

英文摘要：

In order to avoid linearization for nonlinear measurement equations, the unscented Kalman filter （UKF） was applied to INS/passive BEI-DOU integrated navigation system. The UKF was used to estimate navigation parameters of the integrated system directly, and the truncation errors occurred during solving nonlinear measurement equation by Talor equation is avoided. The simulation results show that the truncation errors of nonlinear measurement equations are eliminated and the navigation accuracy of INS/passive BEI-DOU integrated navigation system is improved.