Moving State Marine SINS Initial Alignment Based on High Degree CKF

Yong-Gang Zhang,Yu-Long Huang,Ning Li,Zhe-Min Wu

doi:10.1155/2014/546107

Yong-Gang Zhang, Yu-Long Huang + Show 2 more

Open Access

https://doi.org/10.1155/2014/546107

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Abstract

A new moving state marine initial alignment method of strap-down inertial navigation system (SINS) is proposed based on high-degree cubature Kalman filter (CKF), which can capture higher order Taylor expansion terms of nonlinear alignment model than the existing third-degree CKF, unscented Kalman filter and central difference Kalman filter, and improve the accuracy of initial alignment under large heading misalignment angle condition. Simulation results show the efficiency and advantage of the proposed initial alignment method as compared with existing initial alignment methods for the moving state SINS initial alignment with large heading misalignment angle.

Highlights

It is well known that the attitude update of strap-down inertial navigation system (SINS) is achieved based on numerical integration [1]
In order to improve alignment accuracy and alignment speed, a new moving state initial alignment method based on the fifth-degree cubature Kalman filter (CKF) (5th-CKF) is proposed in this paper
3rd-CKF unscented Kalman filter (UKF) central difference Kalman filter (CDKF) 5th-CKF 0.64 0.33 0.25 0.09 0.63 0.4 0.35 0.15 14 4.0 3.0 2.2 we choose the absolute value of estimation error of misalignment angles as performance metric

Summary

Introduction

It is well known that the attitude update of strap-down inertial navigation system (SINS) is achieved based on numerical integration [1]. In order to solve the problem of moving state initial alignment with large heading misalignment angle, Kong et al proposed an initial alignment method based on extended Kalman filter (EKF) [8]. It has low alignment accuracy and slow alignment speed. In order to improve alignment accuracy and alignment speed, a new moving state initial alignment method based on the fifth-degree CKF (5th-CKF) is proposed in this paper. For moving state initial alignment of SINS with large heading misalignment angle, the 5th-CKF addresses the strong nonlinearity problem better than existing methods because it can capture the fifth order Taylor expansion terms of nonlinear alignment model.

Marine SINS Initial Alignment Nonlinear Error Model

SINS Nonlinear Error Model for Moving State

High Degree CKF

Simulations

Conclusion