Study on SRUKF Applied in Initial Alignment with Large Misalignment Angle on Stationary Base of SINS

Kai Cheng; Chun Mei Huang; Yue Yuan Zhao

doi:10.4028/www.scientific.net/AMR.383-390.5088

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 383-390Study on SRUKF Applied in Initial Alignment with...

Study on SRUKF Applied in Initial Alignment with Large Misalignment Angle on Stationary Base of SINS

Abstract:

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.

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Periodical:

Advanced Materials Research (Volumes 383-390)

Pages:

5088-5093

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.383-390.5088

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Online since:

November 2011

Authors:

Kai Cheng, Chun Mei Huang, Yue Yuan Zhao

Keywords:

Extended Kalman Flter (EKF), Initial Alignment, Square Root, Strapdown Inertial Navigation System (SINS)

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References

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