Study on SRUKF Applied in Initial Alignment with Large Misalignment Angle on Stationary Base of SINS

被引：2

作者：

Cheng Kai ^{[1
]}

Huang Chunmei ^{[1
]}

Zhao Yueyuan ^{[1
]}

机构：

[1] Chang Chun Univ Technol, Inst Comp & Sci, Changchun, Peoples R China

来源：

MANUFACTURING SCIENCE AND TECHNOLOGY, PTS 1-8 | 2012年 / 383-390卷

关键词：

initial alignment; Strap-down Inertial Navigation System; Extended Kalman Filter; square root;

D O I：

10.4028/www.scientific.net/AMR.383-390.5088

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

The initial alignment error model of SINS (Strap-down Inertial Navigation System) with large misalignment angle is nonlinear. The traditional EKF (Extended Kalman Filter) was used to linearization a nonlinear system, but its performance is limited. In this paper we use the SRUKF (Square Root Unscented Kalman Filter) to process this nonlinear system and the results indicate that SRUKF is better than EKF in convergence speed and estimation accuracy.

引用

页码：5088 / 5093

页数：6

共 8 条

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