Title :
Cubature Kalman filter in initial alignment of large heading error in SINS
Author :
Zhenkai Wang ; Xianlin Huang
Author_Institution :
Center for Control Theor. & Guidance Technol., Harbin Inst. of Technol., Harbin, China
Abstract :
Initial alignment is a key step in strapdown inertial navigation systems. In order to improve the accuracy of the navigation system with a large heading error, nonlinear error model is adopted and the cubature Kalman filter is applied to solve the filtering problem. We focus on the stationary basement, simulation results show good performance in case of nonlinear filtering problems and it is more efficient than EKF.
Keywords :
Kalman filters; inertial navigation; nonlinear filters; SINS; cubature Kalman filter; filtering problem; large heading error initial alignment; nonlinear error model; nonlinear filter; stationary basement; strapdown inertial navigation system; Equations; Filtering algorithms; Kalman filters; Mathematical model; Silicon compounds; Simulation; Alignment; Strapdown inertial navigation; cubature Kalman filter; large heading error;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
