SINS initial alignment based on fifth-degree Cubature Kalman Filter

Author

Yonggang Zhang ; Yulong Huang ; Ning Li ; Zhemin Wu

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin, China

fYear

2013

fDate

4-7 Aug. 2013

Firstpage

401

Lastpage

406

Abstract

As a nonlinear filtering method, fifth degree Cubature Kalman Filter (5th-CKF) has attracted much attention due to its high precision as compared with that of third-degree Cubature Kalman Filter (3rd-CKF). This paper presents initial alignment method of strap-down inertial navigation system (SINS) by applying both the 3rd-CKF and 5th-CKF. Simulation results show that the 3rd-CKF has similar performance with that of 5th-CKF under small misalignment angles. However, the performance of 5th-CKF is superior to that of 3rd-CKF in terms of accuracy and SINS alignment speed under large heading misalignment angle.

Keywords

Kalman filters; inertial navigation; nonlinear filters; SINS alignment speed; SINS initial alignment; fifth-degree cubature Kalman filter; heading misalignment angle; nonlinear filtering method; strap-down inertial navigation system; third-degree cubature Kalman filter; Accuracy; Computational modeling; Equations; Kalman filters; Mathematical model; Silicon compounds; Vectors; Fifth-degree Cubature Kalman Filter; Initial alignment; Large heading misalignment angle; SINS;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2013 IEEE International Conference on

Conference_Location

Takamatsu

Print_ISBN

978-1-4673-5557-5

Type

conf

DOI

10.1109/ICMA.2013.6617952

Filename

6617952