简化七阶CQKF及其在SINS大失准角初始对准中的应用

Dong Meng; Ling Juan Miao; Hai Jun Shao; Jun Shen

doi:10.3873/j.issn.1000-1328.2018.08.010

简化七阶CQKF及其在SINS大失准角初始对准中的应用

Translated title of the contribution: A seventh-degree simplified cqkf and its application in sins initial alignment of misalignment angle

Dong Meng
, Ling Juan Miao^*
, Hai Jun Shao
, Jun Shen

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

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

6 Citations (Scopus)

Abstract

A seventh-degree orthogonal simplified cubature Kalman filter algorithm (7th-SCQKF) is proposed for the initial alignment of a strapdown inertial navigation system (SINS). According to the simplified CKF theory, this paper introduces the improved seventh-order simplified CKF algorithm (7th-MSSRCKF), which improves the performance of the original seventh-degree simplified CKF (7th-SSRCKF). At the same time, on the basis of the 7th-SSRCKF and 7th-MSSRCKF, the 7th-SCQKF is proposed to improve the filtering accuracy. In the meantime, the seventh-degree simplified CQKF (7th-SCQKF) algorithm is applied to SINS's large misalignment angle initial alignment simulation. It is proved that the filtering accuracy of the 7th-SCQKF is higher than that of the 7th-MSSRCKF, which verifies the correctness and validity of the new algorithm.

Translated title of the contribution	A seventh-degree simplified cqkf and its application in sins initial alignment of misalignment angle
Original language	Chinese (Traditional)
Pages (from-to)	905-912
Number of pages	8
Journal	Yuhang Xuebao/Journal of Astronautics
Volume	39
Issue number	8
DOIs	https://doi.org/10.3873/j.issn.1000-1328.2018.08.010
Publication status	Published - 30 Aug 2018

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@article{c4a6ec0cddf8446982ef879d83c87cc2,

title = "简化七阶CQKF及其在SINS大失准角初始对准中的应用",

abstract = "A seventh-degree orthogonal simplified cubature Kalman filter algorithm (7th-SCQKF) is proposed for the initial alignment of a strapdown inertial navigation system (SINS). According to the simplified CKF theory, this paper introduces the improved seventh-order simplified CKF algorithm (7th-MSSRCKF), which improves the performance of the original seventh-degree simplified CKF (7th-SSRCKF). At the same time, on the basis of the 7th-SSRCKF and 7th-MSSRCKF, the 7th-SCQKF is proposed to improve the filtering accuracy. In the meantime, the seventh-degree simplified CQKF (7th-SCQKF) algorithm is applied to SINS's large misalignment angle initial alignment simulation. It is proved that the filtering accuracy of the 7th-SCQKF is higher than that of the 7th-MSSRCKF, which verifies the correctness and validity of the new algorithm.",

keywords = "High-degree filtering, Orthogonal Kalman filter, SINS, Simplified CKF algorithm",

author = "Dong Meng and Miao, \{Ling Juan\} and Shao, \{Hai Jun\} and Jun Shen",

year = "2018",

month = aug,

day = "30",

doi = "10.3873/j.issn.1000-1328.2018.08.010",

language = "繁体中文",

volume = "39",

pages = "905--912",

journal = "Yuhang Xuebao/Journal of Astronautics",

issn = "1000-1328",

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T1 - 简化七阶CQKF及其在SINS大失准角初始对准中的应用

AU - Meng, Dong

AU - Miao, Ling Juan

AU - Shao, Hai Jun

AU - Shen, Jun

PY - 2018/8/30

Y1 - 2018/8/30

N2 - A seventh-degree orthogonal simplified cubature Kalman filter algorithm (7th-SCQKF) is proposed for the initial alignment of a strapdown inertial navigation system (SINS). According to the simplified CKF theory, this paper introduces the improved seventh-order simplified CKF algorithm (7th-MSSRCKF), which improves the performance of the original seventh-degree simplified CKF (7th-SSRCKF). At the same time, on the basis of the 7th-SSRCKF and 7th-MSSRCKF, the 7th-SCQKF is proposed to improve the filtering accuracy. In the meantime, the seventh-degree simplified CQKF (7th-SCQKF) algorithm is applied to SINS's large misalignment angle initial alignment simulation. It is proved that the filtering accuracy of the 7th-SCQKF is higher than that of the 7th-MSSRCKF, which verifies the correctness and validity of the new algorithm.

AB - A seventh-degree orthogonal simplified cubature Kalman filter algorithm (7th-SCQKF) is proposed for the initial alignment of a strapdown inertial navigation system (SINS). According to the simplified CKF theory, this paper introduces the improved seventh-order simplified CKF algorithm (7th-MSSRCKF), which improves the performance of the original seventh-degree simplified CKF (7th-SSRCKF). At the same time, on the basis of the 7th-SSRCKF and 7th-MSSRCKF, the 7th-SCQKF is proposed to improve the filtering accuracy. In the meantime, the seventh-degree simplified CQKF (7th-SCQKF) algorithm is applied to SINS's large misalignment angle initial alignment simulation. It is proved that the filtering accuracy of the 7th-SCQKF is higher than that of the 7th-MSSRCKF, which verifies the correctness and validity of the new algorithm.

KW - High-degree filtering

KW - Orthogonal Kalman filter

KW - SINS

KW - Simplified CKF algorithm

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U2 - 10.3873/j.issn.1000-1328.2018.08.010

DO - 10.3873/j.issn.1000-1328.2018.08.010

M3 - 文章

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SN - 1000-1328

VL - 39

SP - 905

EP - 912

JO - Yuhang Xuebao/Journal of Astronautics

JF - Yuhang Xuebao/Journal of Astronautics

IS - 8

ER -

简化七阶CQKF及其在SINS大失准角初始对准中的应用

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