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

fYear

2008

fDate

10-12 Dec. 2008

Firstpage

1

Lastpage

6

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ISSCAA.2008.4776328

Filename

4776328