Research of Fuzzy Inference based on Simplified UKF for large alignment errors in SINS alignment on a swaying base

In the condition of large alignment angles which brought about nonlinear problem in SINS, a precise SINS error model was established on the concept of Euler platform error angles. To reduce the computation of initial alignment in SINS, a Simplified UKF (SUKF) could be used since its state equation was nonlinear while the measurement equation was linear. A novel method combined Fuzzy Inference System (FIS) and system noise´s online estimation together on the basis of SUKF was proposed to adjust the system noise covariance, and online improve the performance of the SINS initial alignment. In the SINS alignment for large misalignment angles simulation conditions, the SUKF via FIS showed higher accuracy, better stability and also better real-time performance compared with conventional UKF.