Abstract
This study concerns the in-motion alignment in the strapdown inertial navigation system (SINS) with large misalignment angles. As the non-linear filtering method applied in the alignment model is quite computer intensive, which has a significant impact on the alignment accuracy and speed. To solve this problem, a robust H-infinity cubature Kalman filter (CKF)/KF hybrid filter (RHCHF) is proposed to lower the computational burden and strengthen the robustness. By virtue of the idea of model decomposition, the RHCHF could estimate the non-linear and linear parts of alignment model, respectively. Through the introduction of robust factor to adjust the filter parameters, it can ensure the accuracy reliably. The comparisons of the simulation and vehicle experiment demonstrate that the RHCHF could achieve the results at a significantly lower expense than the unscented Kalman filter, and obtain a high accuracy even when the statistical property of noise is uncertain or the outliers of measurement occur occasionally.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
