Initial alignment of Inertial Navigation System based on a predictive iterated Kalman filter
作者单位：Department of AutomationCollege of Information EngineeringYangzhou University National Key Laboratory on Aircraft Control TechnologySchool of Instrumentation Science and Opto-Electronics EngineeringBeihang University Department of Aeronautical and Automotive EngineeringLoughborough University
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：080902[工学-电路与系统] 0809[工学-电子科学与技术（可授工学、理学学位）] 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]
基 金：partially supported by the National Natural Science Foundation of China(Grant Nos.61473249 and 61320106010) the Science and Technology Facilities Council (STFC) under Newton fund with grant number ST/N006852/1
关 键 词：Inertial Navigation System Initial alignment Predictive filter Kalman filter Iterative filter
摘 要：Inertial navigation systems（INSs） are widely used in practical applications. This paper considers the problem of initial alignment for an inertial navigation system. As the modeling error of an INS is difficult to be measured accurately, it will decrease the accuracy of the initial alignment. In this paper, a predictive iterated Kalman filter（PIKF） is proposed for a class of INSs with the modeling error and Gaussian noise. Firstly, the modeling error is estimated by a predictive filter. Then, in order to reduce the error between the one step prediction of Kalman filter and the true value, a new filtering method combining a predictive filter with an iterative Kalman filter is used to improve the alignment accuracy. Finally, simulations for the stationary alignment of an INS are given to show the efficiency of the proposed approach.