利用星敏感器和地平儀測量“星光仰角”，進行自主導航方案設計。將UPF（Unscented
Particle Filter）方法引入導航方案，利用UKF（Unscented Kalman Filter）獲得重要性采樣函數的同時，通過重采樣解決了粒子耗盡問題，改善了系統(tǒng)性能。并與標準粒子濾波方法相比較，通過仿真驗證了該方法的優(yōu)越性。
關鍵詞：自主導航；UPF；星光仰角

Abstract:An autonomous navigation scheme is designed by using the star sensor and horizontal instrument to observe the elevation angle of star.UPF(Unscented Particle Filter) imported into the navigation scheme uses UKF(Unscented Kalman Filter) to generate importance distribution function, at the same time,it resolves the problem of particles exhausted by using re-sampling so that the capability of the system is improved. The advantage of the algorithm is showed by the simulation through compared with the Particle Filter.
Key words: autonomous navigation; UPF; elevation angle of star