Application of unscented Kalman filter for large misalignment errors in INS alignment

Zhan Xin Zhou; Ya Nan Gao; Jia Bin Chen

Application of unscented Kalman filter for large misalignment errors in INS alignment

Zhan Xin Zhou^*, Ya Nan Gao, Jia Bin Chen

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

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

12 Citations (Scopus)

Abstract

The psi-angle model of nonlinear inertial navigation system (INS) alignment for large misalignment error was discussed, and the principle of the unscented Kalman filter (UKF) was analyzed. The UKF was used to estimate the psi-angle of INS alignment and the simulation for the ENS alignment on stationary base is presented. Simulation results show that the UKF is faster in alignment time and more accurate in estimation precision than the EKF in the case of large uncertainties in heading and low uncertainties in tilt angle. The UKF has better performance for low uncertainties of three psi-angles too.

Original language	English
Pages (from-to)	173-175+180
Journal	Xitong Fangzhen Xuebao / Journal of System Simulation
Volume	18
Issue number	1
Publication status	Published - Jan 2006

Keywords

Alignment
Inertial navigation
Nonlinear filter
Unscented Kalman filter

Cite this

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title = "Application of unscented Kalman filter for large misalignment errors in INS alignment",

abstract = "The psi-angle model of nonlinear inertial navigation system (INS) alignment for large misalignment error was discussed, and the principle of the unscented Kalman filter (UKF) was analyzed. The UKF was used to estimate the psi-angle of INS alignment and the simulation for the ENS alignment on stationary base is presented. Simulation results show that the UKF is faster in alignment time and more accurate in estimation precision than the EKF in the case of large uncertainties in heading and low uncertainties in tilt angle. The UKF has better performance for low uncertainties of three psi-angles too.",

keywords = "Alignment, Inertial navigation, Nonlinear filter, Unscented Kalman filter",

author = "Zhou, {Zhan Xin} and Gao, {Ya Nan} and Chen, {Jia Bin}",

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AU - Zhou, Zhan Xin

AU - Gao, Ya Nan

AU - Chen, Jia Bin

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N2 - The psi-angle model of nonlinear inertial navigation system (INS) alignment for large misalignment error was discussed, and the principle of the unscented Kalman filter (UKF) was analyzed. The UKF was used to estimate the psi-angle of INS alignment and the simulation for the ENS alignment on stationary base is presented. Simulation results show that the UKF is faster in alignment time and more accurate in estimation precision than the EKF in the case of large uncertainties in heading and low uncertainties in tilt angle. The UKF has better performance for low uncertainties of three psi-angles too.

AB - The psi-angle model of nonlinear inertial navigation system (INS) alignment for large misalignment error was discussed, and the principle of the unscented Kalman filter (UKF) was analyzed. The UKF was used to estimate the psi-angle of INS alignment and the simulation for the ENS alignment on stationary base is presented. Simulation results show that the UKF is faster in alignment time and more accurate in estimation precision than the EKF in the case of large uncertainties in heading and low uncertainties in tilt angle. The UKF has better performance for low uncertainties of three psi-angles too.

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KW - Inertial navigation

KW - Nonlinear filter

KW - Unscented Kalman filter

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JF - Xitong Fangzhen Xuebao / Journal of System Simulation

IS - 1

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Application of unscented Kalman filter for large misalignment errors in INS alignment

Abstract

Keywords

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