CKF在SINS动基座大失准角初始对准中的应用

Applying CKF to Initial Alignment of SINS on Dynamic Base with a Large Misalignment Angle

为了提高动机座捷联惯导系统初始对准的精度,在推导动基座大方位失准角非线性模型的基础上,提出一种基于容积卡尔曼滤波法的动基座初始对准算法,并对提出的算法进行仿真和试验验证。结果表明,与传统的无迹卡尔曼方法相比,利用该方法能够在更短的时间内更准确地完成精对准过程。

The non-linear model of the system on the dynamic base with large azimuth misalignment angle is derived and the dynamic base initial alignment algorithm based on Cubature Kalman filter is presented.The simulation and experiment results show that the fine alignment with Cubature Kalman filter achieves better accuracy in shorter time than the one with Unscented Kalman filter.