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

^*此作品的通讯作者

自动化学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

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.

源语言	英语
主期刊名	Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
页	97-101
页数	5
版本	PART 2
DOI	https://doi.org/10.1109/ICICIP.2010.5564317
出版状态	已出版 - 2010
活动	2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010 - Dalian, 中国期限: 13 8月 2010 → 15 8月 2010

出版系列

姓名	Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
编号	PART 2

会议

会议	2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
国家/地区	中国
市	Dalian
时期	13/08/10 → 15/08/10

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 14 水下生物

访问文件

10.1109/ICICIP.2010.5564317

其它文件与链接

链接到 Scopus 的出版物

引用此

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

Sun, Shoucai ; Song, Chunlei ; Wang, Junhou 等. / 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. 编辑 2010. 页码 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. 在 Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010. PART 2 编辑, 5564317, Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010, 号码 PART 2, 页码 97-101, 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010, Dalian, 中国, 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 等.
Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010. PART 2. 编辑 2010. 页码 97-101 5564317 (Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010; 号码 PART 2).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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. 在 Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010. PART 2 编辑 2010. 页码 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

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

指纹

引用此