A consistent and robust Kalman filter design for in-motion alignment of inertial navigation system
A consistent and robust Kalman filter design for in-motion alignment of inertial navigation system
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DOI：
10.1016/j.measurement.2008.10.002
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发表时间：
2009-05-01
期刊：
影响因子：
5.6
通讯作者：
Ushaq, Muhammad
中科院分区：
文献类型：
--
作者：
Ali, Jamshaid;Ushaq, Muhammad
在发出启动或发射命令之前，需要反复提到在移动的车辆中对准捷联惯性导航系统(SINS)以避免惯性系统长时间启动的必要性。因此，这种动态对准是通过使用某种形式的测量匹配方法将SINS数据与一些外部辅助来源(如全球定位系统(GPS))相结合来实现的。因此，本文提出了一种基于一致和稳健卡尔曼滤波(RKF)结构的低成本捷联惯性测量组合(SIMU)的可靠动态对准方案。建立了捷联惯导系统的误差模型，其状态向量包括姿态、速度、位置和传感器误差。利用机动GPS获得的速度信息作为滤波器的量测。实验结果表明，该方法对脉冲噪声较不敏感，对导航参数有较好的估计。(C)2008爱思唯尔有限公司。保留所有权利。
The necessity recurrently comes up to align a strapdown inertial navigation system (SINS) in a moving vehicle to avoid a long run-up of the inertial system before a start or launch command is issued. This in-motion alignment is therefore achieved by integrating SINS data with some external aiding source such as the Global Positioning System (GPS) by using some form of measurement matching method. Consequently, this paper illustrates a reliable in-motion alignment scheme for a low-cost strapdown inertial measurement unit (SIMU) using a consistent and robust Kalman filter (RKF) structure. An error model of the SINS is derived and the state vector comprises attitude, velocity, position and sensor errors. Velocity information from the GPS with maneuvering is employed as a measurement to the filter. Experimentation results show that the proposed filter is less sensitive to impulsive noise and gives better estimates of the navigation parameters. (C) 2008 Elsevier Ltd. All rights reserved.