Journal of Beijing University of Posts and Telecommunications

  • EI核心期刊

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2014, Vol. 37 ›› Issue (1): 11-15.doi: 10.13190/j.jbupt.2014.01.003

• Papers • Previous Articles     Next Articles

Application of Dual Adaptive UKF in Initial Alignment of SINS

MEN Ai-dong, JIANG Zhu-qing, WANG Yu-peng, HUANG Cheng-kai   

  1. School of Information and Communication Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • Received:2013-05-16 Online:2014-02-28 Published:2014-01-07

Abstract:

An improved unscented Kalman filter (UKF) algorithm is called dual adaptive UKF. It could not only stabilize model noise by the method of resizing noise, but also inhibit observation interference by monitoring the trace of the adaptive matrix based on innovation characteristics and amending the adaptive matrix in time. Simulation results show that the dual adaptive UKF algorithm is very sensitive to model noise and observation interference. And it has strong robustness which could stabilize the model noise quickly.

Key words: nonlinear system, dual adaptive algorithm, unscented Kalman filter, initial alignment

CLC Number: