A fast robust Kalman filter for initial alignment of strapdown inertial navigation system

Optik ◽  
2021 ◽  
Vol 237 ◽  
pp. 166541
Author(s):  
Xuyou Li ◽  
Qingwen Meng ◽  
Meng Liu ◽  
Yanda Guo
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Initial Alignment ◽  
Robust Kalman Filter ◽  
Strapdown Inertial Navigation

A fast alignment of marine strapdown inertial navigation system based on adaptive unscented Kalman Filter

2020 ◽  
pp. 014233122093429 ◽  
Author(s):  
Hossein Rahimi ◽  
Amir Ali Nikkhah ◽  
Kaveh Hooshmandi
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Unscented Kalman Filter ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Initial Alignment ◽  
External Perturbations ◽  
Adaptive Unscented Kalman Filter ◽  
Strapdown Inertial Navigation

This study has presented an efficient adaptive unscented Kalman filter (AUKF) with the new measurement model for the strapdown inertial navigation system (SINS) to improve the initial alignment under the marine mooring conditions. Conventional methods of the accurate alignment in the ship’s SINS usually fail to succeed within an acceptable period of time due to the components of external perturbations caused by the movement of sea waves and wind waves. To speed up convergence, AUKF takes into account the impact of the dynamic acceleration on the filter and its gain adaptively tuned by considering the dynamic scale sensed by accelerometers. This approach considerably improved the corrections of the current residual error on the SINS and decreased the influence due to the external perturbations caused by the ship’s movement. Initial alignment algorithm based on AUKF is designed for large misalignment angles and verified by experimental data. The experimental test results show that the proposed algorithm enhanced the convergence speed of SINS initial alignment compared with some state-of-the-art existing approaches.

Application of Improved Unscented Kalman Filter to AUV Based on Terrain-Aided Strapdown Inertial Navigation System

2013 ◽  
Vol 389 ◽  
pp. 758-764 ◽  
Author(s):  
Qi Wang ◽  
Dong Li ◽  
Zi Jia Zhang ◽  
Chang Song Yang
Keyword(s):  
Kalman Filter ◽  
Information Fusion ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Unscented Kalman Filter ◽  
Autonomous Underwater Vehicles ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Integrated Navigation ◽  
Strapdown Inertial Navigation

To improve the navigation precision of autonomous underwater vehicles, a terrain-aided strapdown inertial navigation based on Improved Unscented Kalman Filter (IUKF) is proposed in this paper. The characteristics of strapdown inertial navigation system and terrain-aided navigation system are described in this paper, and improved UKF method is applied to the information fusion. Simulation experiments of novel integrated navigation system proposed in the paper were carried out comparing to the traditional Kalman filtering methods. The experiment results suggest that the IUKF method is able to greatly improve the long-time navigation precision, relative to the traditional information fusion method.

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