TY - GEN
T1 - Cubature Gaussian particle filter for initial alignment of strapdown inertial navigation system
AU - Wu, Weisheng
AU - Song, Chunlei
AU - Wang, Junhou
AU - Long, Zhenzhen
PY - 2010
Y1 - 2010
N2 - The error model of the initial alignment of the marine strapdown inertial navigation system on the swaying base is nonlinear, while the azimuth angle error is large. For this nonlinear model, a new nonlinear filter called as the cubature Gaussian Particle filter is proposed, which is based on the cubature Kalman filter and the Gaussian Particle filter. The cubature 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 in the initial alignment.
AB - The error model of the initial alignment of the marine strapdown inertial navigation system on the swaying base is nonlinear, while the azimuth angle error is large. For this nonlinear model, a new nonlinear filter called as the cubature Gaussian Particle filter is proposed, which is based on the cubature Kalman filter and the Gaussian Particle filter. The cubature 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 in the initial alignment.
KW - Cubature Kalman filter
KW - Gaussian Particle filter
KW - Initial alignment
KW - Strapdown inertial navigation system
UR - http://www.scopus.com/inward/record.url?scp=78650502653&partnerID=8YFLogxK
U2 - 10.1109/PCSPA.2010.294
DO - 10.1109/PCSPA.2010.294
M3 - Conference contribution
AN - SCOPUS:78650502653
SN - 9780769541808
T3 - Proceedings - 2010 1st International Conference on Pervasive Computing, Signal Processing and Applications, PCSPA 2010
SP - 1196
EP - 1200
BT - Proceedings - 2010 1st International Conference on Pervasive Computing, Signal Processing and Applications, PCSPA 2010
T2 - 1st International Conference on Pervasive Computing, Signal Processing and Applications, PCSPA 2010
Y2 - 17 September 2010 through 19 September 2010
ER -
