A MARGINALIZED PARTICLE FILTER IN INITIAL ALIGNMENT FOR SINS

作者：Xiong Jian^*; Liu Jianye; Lai Jizhou; Jiang Bin

来源：International Journal of Innovative Computing Information and Control, 2011, 7(7A): 3771-3778.

• Particle filter
• Initial alignment
• Inertial navigation system
• Strapdown inertial navigation system

Since the states of the system are not totally observable, particle filter cannot collect adequate measurement information as demanded while marginalized particle filter is applied to stationary self-alignment with large misalignment angles. To solve this problem, a filtering model of initial alignment with large misalignment angles is constructed. A marginalized particle filtering method assisted by the gyro measurement information is proposed. The simulation results show that the proposed approach can greatly lighten the heavy computational load with high dimensions and large initial errors, quicken the alignment speed of the azimuth misalignment angle, and get higher initial alignment precision than the conventional method with ordinary particle filter.

• 出版日期2011-7
• 单位南京航空航天大学