Application of unscented Kalman filter in identification of INS error parameters based on centrifuge test

In order to identify the error parameters of inertial navigation platform in the centrifuge testing,a non-linear model of INS for the identification with a direct method is established.According to the actual system model,the standard unscented Kalman filter(UKF) algorithm is simplified and improved.Compared with the standard UKF,the improved algorithm has the same filtering precision,simpler configuration and lower calculation load.An extended Kalman filter(EKF) algorithm and the improved UKF algorithm are applied respectively to identify the error parameters of INS based on centrifuge test.The simulation results demonstrate that the improved UKF algorithm is more precise in INS error parameter identification and easier to implement than EKF algorithm.