A QR factorization-based adaptive divided difference filter for initial alignment of large azimuth misalignment of SINS

被引：0
|
作者：
Xiang L. [1 ]
Liu Y. [1 ]
Su B.-K. [1 ]
机构：
[1] School of Astronautic, Harbin Institute of Technology
来源：
Yuhang Xuebao/Journal of Astronautics | 2010年 / 31卷 / 02期
关键词：
Divided difference filter; Initial alignment; Large azimuth misalignment; Noise estimator; QR decomposition;
D O I：
10.3873/j.issn.1000-1328.2010.02.032
中图分类号：
学科分类号：
摘要：
The divided difference filter for nonlinear state estimation suffers from numerical instability and the problem of degraded performance of the filter due to the incorrect statistics of the system noise, an adaptive difference filter is developed. The new algorithm, combining with the matrix QR decomposition, Cholesky decomposition factor updating, noise estimator and selective update strategy, efficiently improved the above problem. Test on the strapdown inertial navigation system (SINS) of initial alignment of large azimuth misalignment and simulation results show the efficiency and robustness of the proposed method.
引用
收藏
页码：509 / 513
页数：4
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