Title :
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.
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;
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
DOI :
10.1109/ICMA.2006.257663
