Application of adaptive UKF in initial alignment of MINS/GPS integrated navigation system

In order to overcome the shortcomings of standard unscented Kalman filter (UKF), which are obviously influenced by the error of initial value and the model error of system, adaptive UKF which is based on the adaptive principle is applied in initial alignment of the MINS/GPS integrated navigation system. Coarse alignment cannot be done by micro inertial measurement unit (MIMU) itself because of its low precision, the method of using magnetometer to assist it with coarse alignment is presented. Simulation results show that the adaptive UKF can overcome the influences of initial values error and inaccurate system model, and improve the convergence speed and alignment accuracy effectively.