Application of Nonlinear Filtering for SINS Initial Alignment

Author

Gao, Wei ; Xu, Bo ; Sun, Hongjun ; Yu, Fei

Author_Institution

Sch. of Electr. Eng. & Autom., Harbin Inst. of Technol.

fYear

2006

fDate

25-28 June 2006

Firstpage

2259

Lastpage

2263

Abstract

The paper derived the initial alignment error equation of the SINS (strapdown inertial navigation system) when the azimuth errors are considerably large. Because of including the nonlinear part in the equation, two methods of extended Kalman filter and scaled unscented Kalman filter are used to simulate the nonlinear system. The simulation results show that the accuracy of scaled unscented Kalman filter for the azimuth estimate is better than extended Kalman filter

Keywords

Kalman filters; inertial navigation; nonlinear control systems; nonlinear filters; position control; SINS initial alignment; azimuth errors; extended Kalman filter; initial alignment error equation; nonlinear filtering; nonlinear system; scaled unscented Kalman filter; strapdown inertial navigation system; Automation; Azimuth; Filtering; Inertial navigation; Mechatronics; Nonlinear equations; Nonlinear filters; Paper technology; Silicon compounds; White noise; SINS; SUKF; extendedKalman filter; initialalignment;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257663

Filename

4026449