UKF方法在SINS初始对准中的应用研究

Application of UKF to SINS Initial Alignment

惯性导舷设备的初始对准在本质上是非线性的，对于建立在线性模型基础上的EKF方法，在一定程度上影响了系统的精度。本文介绍了一种建立在非线性模型基础上的卡尔曼滤波方法（UKF），并应用于SINS的初始对准。通过仿真试验研究，结果表明：UKF方法不仅保证了良好的对准精度，而且大大放宽了对准方位失准角的约束（≤10°即可）。

With the essentially nonlinear characteristics of the initial alignment of INS, the EKF based on the linear models has an impact on system accuracy. The paper introduces a nonlinear filtering method of UKF used for the initial alignment of SINS. The simulation has proved that the UKF is used to ease the restrictions on the azimuth error （within 10 degree） and provide fine alignment.