一种新的惯性导航初始对准滤波方法.pdfVIP

13 1 2005 2 · · 2005 Unscented U666.1 A A New Filtering Method for Initial Alignment of INS ZHANG Hong-mei, DENG Zheng-long (Harbin Institute of Technology, Harbin 150001, China) Abstract: Unscented Kalman Filter (UKF) is a new filtering method, which is superior to the EKF in accomplishment and in estimation precision. But when the dimension of the state is high, estimation errors become larger due to non-local samples. In this circumstance, it is required to use the Scaled UKF (SUKF). In this paper, the SUKF is introduced to the initial alignment filtering problem of stationary base of INS, and a simulation is made to compare the performance of the new filter with that of the EKF. The results indicate that the new filter is better than the EKF in convergence rate and estimation precision. Key words: inertial navigation; initial alignment; unscented Kalman filter; extended Kalman filter [1] EKF EKF EKF Jacobi 1973 2 2005 2 Julier UKF[2,3] Unscented Kalman Filter UKF Unscented UT Sigma UKF Jacobi EKF [4] [5] UKF UKF Sigma Julier [6]Scaled-UKF SUKF Sigma Unscented SUT SUKF SUT Unscented Sigma SUKF 1 UKF 2 UKF Sigma n x x