Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter
For the SINS initial alignment problem under large misalignment angles and uncertain noise, two novel nonlinear filters, referred to as transformed unscented quadrature Kalman filter (TUQKF) and robust transformed unscented quadrature Kalman filter (RTUQKF), are proposed in this paper, respectively....
Main Authors: | , , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
Hindawi Limited
2017-01-01
|
Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2017/5917917 |
id |
doaj-e8ee9c97bcb54a35bddbfa87f80b5a90 |
---|---|
record_format |
Article |
spelling |
doaj-e8ee9c97bcb54a35bddbfa87f80b5a902020-11-25T01:22:39ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472017-01-01201710.1155/2017/59179175917917Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear FilterBo Yang0Xiaosu Xu1Tao Zhang2Jin Sun3Xinyu Liu4Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaKey Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaKey Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaKey Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaKey Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaFor the SINS initial alignment problem under large misalignment angles and uncertain noise, two novel nonlinear filters, referred to as transformed unscented quadrature Kalman filter (TUQKF) and robust transformed unscented quadrature Kalman filter (RTUQKF), are proposed in this paper, respectively. The TUQKF sets new deterministic sigma points to address the nonlocal sampling problem and improve the numerical accuracy. The RTUQKF is the combination of H∞ technique and TUQKF. It improves the accuracy and robustness of state estimation. Simulation results indicate that TUQKF performs better than traditional filters when misalignment angles are large. Turntable and vehicle experiments results indicate that, under the condition of uncertain noise, the performances of RTUQKF are better than other filters and more robust. These two methods can effectively further increase precision and convergence speed of SINS initial alignment.http://dx.doi.org/10.1155/2017/5917917 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Bo Yang Xiaosu Xu Tao Zhang Jin Sun Xinyu Liu |
spellingShingle |
Bo Yang Xiaosu Xu Tao Zhang Jin Sun Xinyu Liu Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter Mathematical Problems in Engineering |
author_facet |
Bo Yang Xiaosu Xu Tao Zhang Jin Sun Xinyu Liu |
author_sort |
Bo Yang |
title |
Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter |
title_short |
Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter |
title_full |
Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter |
title_fullStr |
Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter |
title_full_unstemmed |
Novel SINS Initial Alignment Method under Large Misalignment Angles and Uncertain Noise Based on Nonlinear Filter |
title_sort |
novel sins initial alignment method under large misalignment angles and uncertain noise based on nonlinear filter |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2017-01-01 |
description |
For the SINS initial alignment problem under large misalignment angles and uncertain noise, two novel nonlinear filters, referred to as transformed unscented quadrature Kalman filter (TUQKF) and robust transformed unscented quadrature Kalman filter (RTUQKF), are proposed in this paper, respectively. The TUQKF sets new deterministic sigma points to address the nonlocal sampling problem and improve the numerical accuracy. The RTUQKF is the combination of H∞ technique and TUQKF. It improves the accuracy and robustness of state estimation. Simulation results indicate that TUQKF performs better than traditional filters when misalignment angles are large. Turntable and vehicle experiments results indicate that, under the condition of uncertain noise, the performances of RTUQKF are better than other filters and more robust. These two methods can effectively further increase precision and convergence speed of SINS initial alignment. |
url |
http://dx.doi.org/10.1155/2017/5917917 |
work_keys_str_mv |
AT boyang novelsinsinitialalignmentmethodunderlargemisalignmentanglesanduncertainnoisebasedonnonlinearfilter AT xiaosuxu novelsinsinitialalignmentmethodunderlargemisalignmentanglesanduncertainnoisebasedonnonlinearfilter AT taozhang novelsinsinitialalignmentmethodunderlargemisalignmentanglesanduncertainnoisebasedonnonlinearfilter AT jinsun novelsinsinitialalignmentmethodunderlargemisalignmentanglesanduncertainnoisebasedonnonlinearfilter AT xinyuliu novelsinsinitialalignmentmethodunderlargemisalignmentanglesanduncertainnoisebasedonnonlinearfilter |
_version_ |
1725126220169871360 |