逐次正交化分布式Kalman滤波器在SINS初始对准中的应用

The Application of Distributed Kalman Filtering with Successive Orthogonalization in SINS Initial Alignment

本文提出了一种用于捷联式惯性导航系统(SINS)初始对准的分布式Kalman滤波器,这是一种采用逐次正交化原理,利用两级递阶结构的最优滤波方法。这种方法最突出的优点是,具有较高的滤波实时性,解决了大系统中应用整体式Kalman滤波遇到的非实时性难题。这个优点在SINS初始对准系统中已得到证实。

In this paper,a distributed Kalman filtering used for Strapdown Inertial Navigation System(SINS)initial alignment is developed.It is an optimal filtering method based on successive orthogonalization principle.It adopts two-level hierarchical structure.The most prominent advantage of this approach is that it has good real-time ability.Hence,the non real-time problem encounted in applying centralized Kalman filtering to large scale system is overcome.This advan- tage has been validated in SINS initial alignment.