Scaled UKF with Reduced Sigma Points for Initial Alignment of SINS

作     者：MAO Yuliang,CHEN Jiabin,SONG Chunlei,WU Weisheng School of Automation,Beijing Institute of Technology,Beijing 100081,P.R.China 

会议名称：《第三十届中国控制会议》

会议日期：2011年

学科分类：08[工学] 080401[工学-精密仪器及机械] 081105[工学-导航、制导与控制] 0804[工学-仪器科学与技术] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

关 键 词：Sigma point UKF SINS 

摘      要：正The error model of the initial alignment of strapdown inertial navigation system（SINS） is nonlinear when the azimuth angle error is *** the dimension of the system increases,the computation of the sigma points needed by UKF becomes burdensome,and the sigma points are no longer local sampling *** non-local sigma points can’t represent the system state correctly,and are prone to causing estimate *** this paper,an improved filtering method combing the reduced sigma points UKF and the scaled UKF is proposed and implemented for initial alignment of *** experiment results show that it yields better performance than EKF.