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http://dx.doi.org/10.5302/J.ICROS.2006.12.11.1124

Performance Analysis of In-Flight Alignment Using UKF  

Kang, Woo-Yong (서울대학교 기계항공공학부/정밀기계설계공동연구소)
Kim, Kwang-Jin (서울대학교 기계항공공학부/정밀기계설계공동연구소)
Park, Chan-Gook (서울대학교 기계항공공학부/정밀기계설계공동연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.11, 2006 , pp. 1124-1129 More about this Journal
Abstract
In this paper, in-flight alignment algorithm using UKF is presented for an SDINS aided by SSBL or GPS system under large initial heading error. The EKF usually applied for this task. This approximates the propagation of mean and covariance accurate to first-order only. To overcome this limitation, the unscented transformation that achieves second order approximation is applied to the in-flight alignment. To analyze the performance of the proposed method, simulations for S-type trajectory are carried out. The results show that performance of EKF and UKF are the almost same when the initial heading error is smaller than $30^{\circ}$, but UKF has a better performance for large initial heading error about $45^{\circ}$.
Keywords
in-flight alignment; SDINS; GPS; SSBL; UT; UKF; EKF; heading error;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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