Application of unscented Kalman filter for large misalignment errors in INS alignment

Zhan Xin Zhou; Ya Nan Gao; Jia Bin Chen

Application of unscented Kalman filter for large misalignment errors in INS alignment

Zhan Xin Zhou^*, Ya Nan Gao, Jia Bin Chen

^*此作品的通讯作者

自动化学院

Beijing Institute of Technology

科研成果: 期刊稿件 › 文章 › 同行评审

12 引用（Scopus）

摘要

The psi-angle model of nonlinear inertial navigation system (INS) alignment for large misalignment error was discussed, and the principle of the unscented Kalman filter (UKF) was analyzed. The UKF was used to estimate the psi-angle of INS alignment and the simulation for the ENS alignment on stationary base is presented. Simulation results show that the UKF is faster in alignment time and more accurate in estimation precision than the EKF in the case of large uncertainties in heading and low uncertainties in tilt angle. The UKF has better performance for low uncertainties of three psi-angles too.

源语言	英语
页（从-至）	173-175+180
期刊	Xitong Fangzhen Xuebao / Journal of System Simulation
卷	18
期	1
出版状态	已出版 - 1月 2006

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title = "Application of unscented Kalman filter for large misalignment errors in INS alignment",

abstract = "The psi-angle model of nonlinear inertial navigation system (INS) alignment for large misalignment error was discussed, and the principle of the unscented Kalman filter (UKF) was analyzed. The UKF was used to estimate the psi-angle of INS alignment and the simulation for the ENS alignment on stationary base is presented. Simulation results show that the UKF is faster in alignment time and more accurate in estimation precision than the EKF in the case of large uncertainties in heading and low uncertainties in tilt angle. The UKF has better performance for low uncertainties of three psi-angles too.",

keywords = "Alignment, Inertial navigation, Nonlinear filter, Unscented Kalman filter",

author = "Zhou, {Zhan Xin} and Gao, {Ya Nan} and Chen, {Jia Bin}",

year = "2006",

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language = "English",

volume = "18",

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T1 - Application of unscented Kalman filter for large misalignment errors in INS alignment

AU - Zhou, Zhan Xin

AU - Gao, Ya Nan

AU - Chen, Jia Bin

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N2 - The psi-angle model of nonlinear inertial navigation system (INS) alignment for large misalignment error was discussed, and the principle of the unscented Kalman filter (UKF) was analyzed. The UKF was used to estimate the psi-angle of INS alignment and the simulation for the ENS alignment on stationary base is presented. Simulation results show that the UKF is faster in alignment time and more accurate in estimation precision than the EKF in the case of large uncertainties in heading and low uncertainties in tilt angle. The UKF has better performance for low uncertainties of three psi-angles too.

AB - The psi-angle model of nonlinear inertial navigation system (INS) alignment for large misalignment error was discussed, and the principle of the unscented Kalman filter (UKF) was analyzed. The UKF was used to estimate the psi-angle of INS alignment and the simulation for the ENS alignment on stationary base is presented. Simulation results show that the UKF is faster in alignment time and more accurate in estimation precision than the EKF in the case of large uncertainties in heading and low uncertainties in tilt angle. The UKF has better performance for low uncertainties of three psi-angles too.

KW - Alignment

KW - Inertial navigation

KW - Nonlinear filter

KW - Unscented Kalman filter

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JO - Xitong Fangzhen Xuebao / Journal of System Simulation

JF - Xitong Fangzhen Xuebao / Journal of System Simulation

IS - 1

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Application of unscented Kalman filter for large misalignment errors in INS alignment

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