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http://dx.doi.org/10.5302/J.ICROS.2014.13.1884

Nonlinear Filtering Approaches to In-flight Alignment of SDINS with Large Initial Attitude Error  

Yu, Haesung (Agency for Defence Development)
Choi, Sang Wook (Agency for Defence Development)
Lee, Sang Jeong (Department Electronics Engineering, Chungnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.4, 2014 , pp. 468-473 More about this Journal
Abstract
This paper describes the in-flight alignment of SDINS (Strapdown Inertial Navigation Systems) using an EKF (Extended Kalman Filter) and a UKF (Unscented Kalam Filter), which allow large initial attitude error uncertainty. Regardless of the inertial sensors, there are nonlinear error dynamics of SDINS in cases of large initial attitude errors. A UKF that is one of the nonlinear filtering approaches for IFA (In-Flight Alignment) are used to estimate the attitude errors. Even though the EKF linearized model makes velocity errors when predicting incorrectly in case of large attitude errors, a UKF can represent correctly the velocity errors variations of attitude errors with nonlinear attitude error components. Simulation results and analyses show that a UKF works well to handle large initial attitude errors of SDINS and the alignment error attitude estimation performance are quite improved.
Keywords
inertial navigation system; attitude error; extended Kalman filter; unscented Kalman filter;
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Times Cited By KSCI : 3  (Citation Analysis)
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