Initial orientation of inertial navigation system realized through nonlinear modeling and filtering
Initial orientation of inertial navigation system realized through nonlinear modeling and filtering
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DOI：
10.1016/j.measurement.2011.01.010
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发表时间：
2011-06-01
期刊：
影响因子：
5.6
通讯作者：
Mirza, M. Rasheeq Ullah Baig
中科院分区：
文献类型：
--
作者：
Ali, Jamshaid;Mirza, M. Rasheeq Ullah Baig
对准是确定惯性导航系统的轴相对于参考系的方向的过程。本文推导了捷联惯导系统在大初始方位误差情况下的初始对准误差方程，其中考虑了非线性特性。已经进行了仿真，以验证和证实采用捷联惯性测量单元（SIMU）的静态对准的情况下。通过对扩展卡尔曼滤波器（EKF）、无迹卡尔曼滤波器（UKF）和二阶分差滤波器（DDF 2）的性能比较，表明DDF 2的姿态误差估计精度优于EKF或UKF。(C)I 2011爱思唯尔有限公司版权所有。
Alignment is the process whereby the orientation of the axes of an inertial navigation system is determined with respect to the reference system. In this paper, the initial alignment error equations of the strapdown inertial navigation system (SINS) with large initial azimuth error have been derived with inclusion of nonlinear characteristics. Simulations have been carried out to validate and corroborate the stationary alignment case employing a strapdown inertial measurement unit (SIMU). A performance comparison between the extended Kalman filter (EKF), the unscented Kalman filter (UKF) and the second-order divided difference filter (DDF2) demonstrate that the accuracy of attitude error estimation using the DDF2 is better than that of using the EKF or the UKF. (C)I 2011 Elsevier Ltd. All rights reserved.