In-flight misalignment attitude estimation for UAV based on GPS and UKF/MPF filter

In view of the long alignment time of ground static base for unmanned aerial vehicle (UAV), an in-flight misalignment attitude estimation method for airborne SINS was presented which was based on GPS observations and a novel model predict filter (MPF). The estimation procedure can be divided into two stage, i.e., coarse estimation stage during the uniform straight-line motion of aircraft, in which GPS was used to obtain the initial position, velocity and azimuth of SINS; accurate estimation stage during a S flight of aircraft in which an MPF combined with the unscented Kalman filter (UKF) was used to estimate the error of SINS due to the coarse estimation. Simulation results demonstrate that the misalignment attitude estimation method is feasible.

[1]  Aboelmagd Noureldin,et al.  Performance Enhancement of MEMS-Based INS/GPS Integration for Low-Cost Navigation Applications , 2009, IEEE Transactions on Vehicular Technology.

[2]  T Gps,et al.  Measured Values of Global Positioning System(GPS)Time , 2005 .

[3]  Stephane Catris,et al.  Density corrections for turbulence models , 2000 .

[4]  Fang Jiancheng.  In-flight self-alignment for airborne SINS/GPS based on GPS observation and model predict filter , 2007 .

[5]  S. Z. Jamal.  Tightly coupled GPS/INS airborne navigation system , 2012, IEEE Aerospace and Electronic Systems Magazine.

[6]  Tao Zhang,et al.  A new method of seamless land navigation for GPS/INS integrated system , 2012 .

[7]  Min-I James Chang.  Rapid Inflight/Transfer Alignment Filter for GPS/INS/DVS Navigation System , 1997 .

[8]  Jamshaid Ali,et al.  A consistent and robust Kalman filter design for in-motion alignment of inertial navigation system , 2009 .

[9]  Chan Gook Park,et al.  UKF based In-Flight Alignment using Low Cost IMU , 2006 .

[10]  Xinlong Wang.  Fast alignment and calibration algorithms for inertial navigation system , 2009 .

[11]  Jin Won Kim,et al.  The enhancement of INS alignment using GPS measurements , 1998, IEEE 1998 Position Location and Navigation Symposium (Cat. No.98CH36153).

[12]  Xinlong Wang,et al.  An intelligentized and fast calibration method of SINS on moving base for planed missiles , 2009 .

[13]  Minh-Duc Hua.  Attitude estimation for accelerated vehicles using GPS/INS measurements , 2010 .