Estimation algorithm of pod installation angles based on cubature Kalman filter

Abstract

To estimate the installation angles of the pod, a detailed derivation of the attitude transformation relationship between the pod, aircraft, and inertial navigation systems is performed. Based on this, a cubature Kalman filtering algorithm is proposed to estimate the pod’s installation angles. The algorithm architecture integrates the time update part of the Kalman filter and measurement update part of the cubature Kalman filter. This algorithm has been validated through a flight test, demonstrating its effectiveness in estimating the installation angles of the master inertial navigation system relative to the aircraft wing, as well as the slave inertial navigation system relative to the pod frame. After compensating for the installation angles, the standard deviations of roll, pitch, and azimuth between the two inertial systems have significantly improved: roll angle from 0.1414° to 0.0282°, pitch angle from 0.0803° to 0.0335°, and azimuth angle from 0.2629° to 0.0490°.