Study on SRUKF Applied in Initial Alignment with Large Misalignment Angle on Stationary Base of SINS
The initial alignment error model of SINS (Strap-down Inertial Navigation System) with large misalignment angle is nonlinear. The traditional EKF (Extended Kalman Filter) was used to linearization a nonlinear system, but its performance is limited. In this paper we use the SRUKF (Square Root Unscented Kalman Filter) to process this nonlinear system and the results indicate that SRUKF is better than EKF in convergence speed and estimation accuracy.
K. Cheng et al., "Study on SRUKF Applied in Initial Alignment with Large Misalignment Angle on Stationary Base of SINS", Advanced Materials Research, Vols. 383-390, pp. 5088-5093, 2012