IMPROVED ARITHMETIC OF TWO-POSITION FAST INITIAL ALIGNMENT FOR SINS USING UNSCENTED KALMAN FILTER

An arithmetic of fast two-position initial alignment for Strapdown Inertial Navigation System (SINS) using Unscented Kalman Filter (UKF) is proposed in this paper to solve the initial alignment problems of SINS. Based on the analysis of initial alignment method of SINS, the nonlinear model for two-position attitude calculation is derived, and the two-position method is used to eliminate the constant error of inertial devices, while the errors of the inertial devices are not needed to be expanded to be states, and the amount of computation is reduced under the premise of ensuring the alignment accuracy of UKF. Furthermore, according to the characteristics of nonlinear model of two-position attitude algorithm, the UKF lter using hybrid model is designed to reduce the amount of initial alignment computation. Simulation results show that, within the nonlinear model of two-position attitude calculation, the heading angle is directly observ- able, and this system can improve the accuracy and speed of heading angle alignment, which satises the real-time requirements of UKF lter for the initial alignment of SINS.

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