Abstract
In practical vehicle applications, the initial alignment environment of SINS is more complicated, and the coarse alignment accuracy is not high due to carrier sloshing, which leads to the filtering problem of nonlinear system in fine alignment. The traditional two-position alignment method based on EKF is no longer applicable. In this paper, a fast two-position alignment method of SINS based on CKF is proposed. Use two CKFs for state estimation at two locations respectively, then the error parameters are solved through the spatial relationship between the two positions. The simulation shows that using CKF improves accuracy compared to EKF. Verified by experiment, the two-position alignment method based on CKF can better adapt to the nonlinear system, which can be applied in practical engineering.
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