SINS initial alignment based on fifth-degree Cubature Kalman Filter

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.