Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015

Application of adaptive Sage-Husa and AUKF filtering algorithm In Initial Alignment of SINS

Authors
Wan-xin Su
Corresponding Author
Wan-xin Su
Available Online December 2015.
DOI
10.2991/icmmcce-15.2015.373How to use a DOI?
Keywords
Kalman; Sage-Husa; AUKF ;SINS; initial alignment; filter
Abstract

When the system model and noise statistical characteristics are known, the conventional Kalman filtering algorithm is suitable. When the noise statistics are unknown and large initial misalignment angles results in system nonlinear, the application of liner error model and Kalman filtering algorithm is very been subjected to restriction. This text, two kinds of adaptive Sage-Husa and adaptive UKF filtering algorithm be simplified respectively.In adaptive Sage-Husa filtering algorithm, automatic on-line estimation and correction for the noise parameters, the state of the system and the state estimate covariance by the observed data. The algorithm improve the convergence speed and alignment accuracy effectively. In adaptive UKF filtering algorithm, AUKF algorithm can automatically balance the weight ratio of state and observation information in filtering to adjust the covariance of state vector and observation vector in real-time, thereby improving system performance. Experimental results showed that the use of adaptive Sage-Husa and UKF filtering algorithm can obtain better alignment accuracy and capacity of resisting disturbance.

Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015
Series
Advances in Computer Science Research
Publication Date
December 2015
ISBN
978-94-6252-133-9
ISSN
2352-538X
DOI
10.2991/icmmcce-15.2015.373How to use a DOI?
Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Wan-xin Su
PY  - 2015/12
DA  - 2015/12
TI  - Application of adaptive Sage-Husa and AUKF filtering algorithm In Initial Alignment of SINS
BT  - Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015
PB  - Atlantis Press
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmcce-15.2015.373
DO  - 10.2991/icmmcce-15.2015.373
ID  - Su2015/12
ER  -