| Unscented Kalman filter for SINS alignment |
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| 作者姓名： | References： |
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| 作者单位： | Zhou Zhanxin（Dept. of Automatic Control, Beijing Inst. of Technology, Beijing 100081, P. R. China） ;
Gao Yanan（Dept. of Automatic Control, Beijing Inst. of Technology, Beijing 100081, P. R. China） ;
Chen Jiabin（Dept. of Automatic Control, Beijing Inst. of Technology, Beijing 100081, P. R. China） ; |
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| 摘 要： | In order to improve the filter accuracy for the nonlinear error model of strapdown inertial navigation system (SINS) alignment, Unscented Kalman Filter (UKF) is presented for simulation with stationary base and moving base of SINS alignment. Simulation results show the superior performance of this approach when compared with classical suboptimal techniques such as extended Kalman filter in eases of large initial misalignment. The UKF has good performance in case of small initial misalignment.
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| 收稿时间： | 12 January 2006 |
Unscented Kalman filter for SINS alignment |
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| Zhou Zhanxin,Gao Yanan,Chen Jiabin.Unscented Kalman filter for SINS alignment[J].Journal of Systems Engineering and Electronics,2007,18(2):327-333. |
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| Authors: | Zhou Zhanxin Gao Yanan Chen Jiabin |
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| Institution: | Dept. of Automatic Control, Beijing Inst. of Technology, Beijing 100081, P. R. China |
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| Abstract: | In order to improve the filter accuracy for the nonlinear error model of strapdown inertial navigation system (SINS) alignment, Unscented Kalman Filter (UKF) is presented for simulation with stationary base and moving base of SINS alignment. Simulation results show the superior performance of this approach when compared with classical suboptimal techniques such as extended Kalman filter in eases of large initial misalignment. The UKF has good performance in case of small initial misalignment. |
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| Keywords: | Unscented Kalman filter Strapdown inertial navigation Alignment Extended Kalman filter |
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