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Volume 17 Issue 6
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2009  >  17(6): 062-66
LI Hui-ping, ZHANG Fu-bin, XU De-min, LU Shu-juan. An Initial Alignment Method of Large Azimuth Misalignment Angle in Strap-down Inertial Navigation System Based on Particle Filter[J]. Journal of Unmanned Undersea Systems, 2009, 17(6): 062-66. doi: 10.11993/j.issn.1673-1948.2009.06.014
Citation: LI Hui-ping, ZHANG Fu-bin, XU De-min, LU Shu-juan. An Initial Alignment Method of Large Azimuth Misalignment Angle in Strap-down Inertial Navigation System Based on Particle Filter[J]. Journal of Unmanned Undersea Systems, 2009, 17(6): 062-66. doi: 10.11993/j.issn.1673-1948.2009.06.014
shu

An Initial Alignment Method of Large Azimuth Misalignment Angle in Strap-down Inertial Navigation System Based on Particle Filter

doi: 10.11993/j.issn.1673-1948.2009.06.014

  • College of Marine Engineering,Northwestern Polytechnical University,Xi′an 710072,China

  • Received Date: 2007-12-26
  • Rev Recd Date: 2008-03-31
  • Publish Date: 2009-12-30
    Abstract
  • The non-linear error model of strap-down inertial navigation system (SINS) on stationary base with large azimuth misalignment angle is analyzed. A method of initial alignment based on the sequential importance sample particle filter (SIS-PF) using optimal importance distribution function is presented. Simulation results show that the initial alignment precision of SIS-PF is one magnitude higher than that of the unscented kalman filter (UKF) in case of large heading error. Compared with the sequential importance resample particle filter (SIR-PF), SIS-PF achieves higher precision with less computation cost.

     

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