A SINS nonlinear fast initial alignment arithmetic using particle filter

作者：Liu Jian Ye^*; Xiong Jian; Lai Ji Zhou; Xiong Zhi

来源：Journal of Chinese Inertial Technology, 2010, 18(5): 527-532.

• Alignment methods
• Heading angles
• Heavy workloads
• High dimensions
• Inertial instruments
• Initial alignment
• New model
• Non-linear model
• Particle filter
• Real time performance
• Stationary base
• Strap-down inertial navigation systems
• Strapdown inertial navigation

In conventional stationary base initial alignment for strapdown inertial navigation, the high dimension model cannot ensure the real-time performance of particle filter. Aiming at this problem, a two-position nonlinear model suitable to particle filter is put forward in this research. With the two-position alignment method, the new model eliminates the constant error of inertial instruments and thus makes it unnecessary to extend the states of inertial instrument error. Therefore, the heavy workload of particle filter calculation will be greatly lightened while its alignment precision can still be guaranteed. In the proposed model, the heading angle is directly observable, so its alignment precision and speed will be improved. Results from the simulation show that with the proposed method, the horizontal attitude precision can be controlled within 6″ and the heading angle precision can be limited within 10';. Meanwhile, the real-time performance of particle filter can be satisfied, and the speed of initial alignment can also be effectively improved.

• 出版日期2010
• 单位南京航空航天大学