Nonlinear filtering techniques with application to strapdown computation

Applying nonlinear filtering techniques to the attitude computation in a strapdown inertial navigation system is discussed. A special class of nonlinear filtering problems is formulated to accommodate the physical problem involving the attitude computation. Recursive filtering algorithms which take advantage of the special characteristics of this mathematical model are derived. Numerical works based on the Monte Carlo simulation are given and comparisons are made with a commonly used algorithm.