Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter
Joint Authors
Xu, Xiaosu
Yang, Bo
Zhang, Tao
Sun, Jin
Liu, Xinyu
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-02-19
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
For the SINS initial alignment problem under large misalignment angles and uncertain noise, two novel nonlinear filters, referred to as transformed unscented quadrature Kalman filter (TUQKF) and robust transformed unscented quadrature Kalman filter (RTUQKF), are proposed in this paper, respectively.
The TUQKF sets new deterministic sigma points to address the nonlocal sampling problem and improve the numerical accuracy.
The RTUQKF is the combination of H∞ technique and TUQKF.
It improves the accuracy and robustness of state estimation.
Simulation results indicate that TUQKF performs better than traditional filters when misalignment angles are large.
Turntable and vehicle experiments results indicate that, under the condition of uncertain noise, the performances of RTUQKF are better than other filters and more robust.
These two methods can effectively further increase precision and convergence speed of SINS initial alignment.
American Psychological Association (APA)
Yang, Bo& Xu, Xiaosu& Zhang, Tao& Sun, Jin& Liu, Xinyu. 2017. Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1190863
Modern Language Association (MLA)
Yang, Bo…[et al.]. Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter. Mathematical Problems in Engineering No. 2017 (2017), pp.1-14.
https://search.emarefa.net/detail/BIM-1190863
American Medical Association (AMA)
Yang, Bo& Xu, Xiaosu& Zhang, Tao& Sun, Jin& Liu, Xinyu. Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1190863
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190863