Central difference Gaussian Particle filter for initial alignment of strapdown inertial navigation system

Shoucai Sun; Chunlei Song; Junhou Wang; Xingtai Yao; Ling Xie

doi:10.1109/ICICIP.2010.5564317

Central difference Gaussian Particle filter for initial alignment of strapdown inertial navigation system

Shoucai Sun^*
, Chunlei Song
, Junhou Wang
, Xingtai Yao
, Ling Xie

^*Corresponding author for this work

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
Pages	97-101
Number of pages	5
Edition	PART 2
DOIs	https://doi.org/10.1109/ICICIP.2010.5564317
Publication status	Published - 2010
Event	2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010 - Dalian, China Duration: 13 Aug 2010 → 15 Aug 2010

Publication series

Name	Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
Number	PART 2

Conference

Conference	2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
Country/Territory	China
City	Dalian
Period	13/08/10 → 15/08/10

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

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10.1109/ICICIP.2010.5564317

Cite this

Sun, S., Song, C., Wang, J., Yao, X., & Xie, L. (2010). Central difference Gaussian Particle filter for initial alignment of strapdown inertial navigation system. In Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010 (PART 2 ed., pp. 97-101). Article 5564317 (Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010; No. PART 2). https://doi.org/10.1109/ICICIP.2010.5564317

Sun, Shoucai ; Song, Chunlei ; Wang, Junhou et al. / Central difference Gaussian Particle filter for initial alignment of strapdown inertial navigation system. Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010. PART 2. ed. 2010. pp. 97-101 (Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010; PART 2).

@inproceedings{bb40da6ea8da447a8e5e7cb283b8a254,

title = "Central difference Gaussian Particle filter for initial alignment of strapdown inertial navigation system",

abstract = "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.",

author = "Shoucai Sun and Chunlei Song and Junhou Wang and Xingtai Yao and Ling Xie",

year = "2010",

doi = "10.1109/ICICIP.2010.5564317",

language = "English",

isbn = "9781424470488",

series = "Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010",

number = "PART 2",

pages = "97--101",

booktitle = "Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010",

edition = "PART 2",

note = "2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010 ; Conference date: 13-08-2010 Through 15-08-2010",

}

Sun, S, Song, C, Wang, J, Yao, X & Xie, L 2010, Central difference Gaussian Particle filter for initial alignment of strapdown inertial navigation system. in Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010. PART 2 edn, 5564317, Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010, no. PART 2, pp. 97-101, 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010, Dalian, China, 13/08/10. https://doi.org/10.1109/ICICIP.2010.5564317

Central difference Gaussian Particle filter for initial alignment of strapdown inertial navigation system. / Sun, Shoucai; Song, Chunlei; Wang, Junhou et al.
Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010. PART 2. ed. 2010. p. 97-101 5564317 (Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010; No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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 - https://www.scopus.com/pages/publications/78649276554

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 -

Sun S, Song C, Wang J, Yao X, Xie L. Central difference Gaussian Particle filter for initial alignment of strapdown inertial navigation system. In Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010. PART 2 ed. 2010. p. 97-101. 5564317. (Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010; PART 2). doi: 10.1109/ICICIP.2010.5564317

Central difference Gaussian Particle filter for initial alignment of strapdown inertial navigation system

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