Scaled UKF with Reduced Sigma Points for Initial Alignment of SINS
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.