Title :
An extended Kalman particle filter algorithm for HRG-based srapdown attitude system
Author :
Shen, Bochang ; Yi, Guoxing ; Chen, Yao ; Wang, Dongzhe ; Wang, Changhong
Author_Institution :
Space Control & Inertial Technol. Res. Center, Harbin Inst. of Technol., Harbin
Abstract :
In this paper, we propose a leveling algorithm based on extended Kalman particle filter (EKPF) for compensating the initial attitude error and the accumulated error. The meaning of leveling in the paper is to acquire two attitude angles of the roll and the pitch of the aircraft during its motion. The EKPF algorithm is applied to our inertial attitude reference unit based on the hemispherical resonator gyroscope (HRG), which is made in China. Simulation results indicate that the performance of the proposed leveling algorithm is superior to that of the standard extended Kalman filter (EKF).
Keywords :
Kalman filters; aircraft; gyroscopes; particle filtering (numerical methods); accumulated error compensation; aircraft motion; aircraft pitch; aircraft roll; attitude error compensation; extended Kalman particle filter algorithm; hemispherical resonator gyroscope based strapdown attitude system; inertial attitude reference unit; leveling algorithm; Aircraft; Gyroscopes; Kalman filters; Particle filters;
Conference_Titel :
Systems and Control in Aerospace and Astronautics, 2008. ISSCAA 2008. 2nd International Symposium on
Conference_Location :
Shenzhen
Print_ISBN :
978-1-4244-3908-9
Electronic_ISBN :
978-1-4244-2386-6
DOI :
10.1109/ISSCAA.2008.4776328
