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中文摘要：
针对自主导航过程中不确定的测量噪声和干扰的影响,提出了一种具有自适应能力的状态估计方法AE-UKF方法。该方法通过对非线性的状态方程进行Unscented变换,对非线性的测量方程求取雅可比矩阵,同时在滤波迭代过程中引入自适应因子,使滤波器具有自适应能力。将AE-UKF方法应用于自主导航系统导航信息的估计过程中,仿真结果表明：AE-UKF方法在达到UKF方法精度的同时,能够克服自主导航过程中不确定的噪声和随机干扰的影响。
英文摘要：
A state estimation method with adaptive ability named AE-UKF method is presented.This method applies Unscented Transformation in the nonlinear state equation,calculates Jacobian matrix in the measurement equation.At the same time,adaptive factor is adopted during the filtering process to improve the adaptive ability of the filter.Applying the AE-UKF method to autonomous navigation system,simulation results show that the accuracy of AE-UKF is the same as UKF while the AE-UKF has a better adaptive ability to uncertain noise and disturbance than UKF in traditional autonomous navigation system.
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