TY - GEN
T1 - Central difference Gaussian Particle filter for initial alignment of strapdown inertial navigation system
AU - Sun, Shoucai
AU - Song, Chunlei
AU - Wang, Junhou
AU - Yao, Xingtai
AU - Xie, Ling
PY - 2010
Y1 - 2010
N2 - The error model of the initial alignment of the marine strapdown inertial navigation system is nonlinear, while the azimuth angle error is large on the swaying base. For this nonlinear model, a new nonlinear filter called as the central difference Gaussian Particle filter is proposed, which is based on the central difference Kalman filter and the Gaussian Particle filter. The central difference Kalman filter is used to calculate the estimate value and the covariance matrix in the observation update for the distribution function, which is sampled as the importance density function for the Gaussian Particle filter. The simulation results demonstrate the novel filter has better estimation performance than the unscented Kalman filter and the Gaussian Particle filter for the initial alignment.
AB - The error model of the initial alignment of the marine strapdown inertial navigation system is nonlinear, while the azimuth angle error is large on the swaying base. For this nonlinear model, a new nonlinear filter called as the central difference Gaussian Particle filter is proposed, which is based on the central difference Kalman filter and the Gaussian Particle filter. The central difference Kalman filter is used to calculate the estimate value and the covariance matrix in the observation update for the distribution function, which is sampled as the importance density function for the Gaussian Particle filter. The simulation results demonstrate the novel filter has better estimation performance than the unscented Kalman filter and the Gaussian Particle filter for the initial alignment.
UR - http://www.scopus.com/inward/record.url?scp=78649276554&partnerID=8YFLogxK
U2 - 10.1109/ICICIP.2010.5564317
DO - 10.1109/ICICIP.2010.5564317
M3 - Conference contribution
AN - SCOPUS:78649276554
SN - 9781424470488
T3 - Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
SP - 97
EP - 101
BT - Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
T2 - 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
Y2 - 13 August 2010 through 15 August 2010
ER -
