A federal UKF algorithm in INS/GPS/aerial image integrated attitude determination system

According to the attitude determination method based on aerial images, an INS/GPS/aerial-image integrated attitude determination system solutions was proposed to improve the airborne platform attitude determination accuracy and reliability. A federal Unscented Kalman Filter (UKF) algorithm based on optimization information distribution factor was used in the INS/GPS/aerial-image integrated system. The integrated system included INS/GPS and INS/aerial-image two subsystems, the outputs from two subsystems were fused in the main filter. Finally, optimal parameters of the system state estimation were obtained. Experimental results show that the proposed method well solves the error divergence problem over time with INS, and prevents the truncation error generated by EKF algorithm. The integrated attitude determination system can get higher precision and reliability.