Unscented Kalman filter for SINS alignment

Zhou Zhanxin; Gao Yanan; Chen Jiabin

doi:10.1016/S1004-4132(07)60094-2

Unscented Kalman filter for SINS alignment

Zhou Zhanxin^*, Gao Yanan, Chen Jiabin

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

33 Citations (Scopus)

Abstract

In order to improve the filter accuracy for the nonlinear error model of strapdown inertial navigation system (SINS) alignment, Unscented Kalman Filter (UKF) is presented for simulation with stationary base and moving base of SINS alignment. Simulation results show the superior performance of this approach when compared with classical suboptimal techniques such as extended Kalman filter in cases of large initial misalignment. The UKF has good performance in case of small initial misalignment.

Original language	English
Pages (from-to)	327-333
Number of pages	7
Journal	Journal of Systems Engineering and Electronics
Volume	18
Issue number	2
DOIs	https://doi.org/10.1016/S1004-4132(07)60094-2
Publication status	Published - 2007

Keywords

Alignment
Extended Kalman filter
Strapdown inertial navigation
Unscented Kalman filter

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10.1016/S1004-4132(07)60094-2

Cite this

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abstract = "In order to improve the filter accuracy for the nonlinear error model of strapdown inertial navigation system (SINS) alignment, Unscented Kalman Filter (UKF) is presented for simulation with stationary base and moving base of SINS alignment. Simulation results show the superior performance of this approach when compared with classical suboptimal techniques such as extended Kalman filter in cases of large initial misalignment. The UKF has good performance in case of small initial misalignment.",

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AU - Yanan, Gao

AU - Jiabin, Chen

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AB - In order to improve the filter accuracy for the nonlinear error model of strapdown inertial navigation system (SINS) alignment, Unscented Kalman Filter (UKF) is presented for simulation with stationary base and moving base of SINS alignment. Simulation results show the superior performance of this approach when compared with classical suboptimal techniques such as extended Kalman filter in cases of large initial misalignment. The UKF has good performance in case of small initial misalignment.

KW - Alignment

KW - Extended Kalman filter

KW - Strapdown inertial navigation

KW - Unscented Kalman filter

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DO - 10.1016/S1004-4132(07)60094-2

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JF - Journal of Systems Engineering and Electronics

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ER -

Unscented Kalman filter for SINS alignment

Abstract

Keywords

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