Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles
In view of the fact the accuracy of the third-degree Cubature Kalman Filter (CKF) used for initial alignment under large misalignment angle conditions is insufficient, an improved fifth-degree CKF algorithm is proposed in this paper. In order to make full use of the innovation on filtering, the inno...
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| Format: | Article |
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MDPI AG
2018-02-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/18/2/659 |
| _version_ | 1828115126573596672 |
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| author | Wei Wang Xiyuan Chen |
| author_facet | Wei Wang Xiyuan Chen |
| author_sort | Wei Wang |
| collection | DOAJ |
| description | In view of the fact the accuracy of the third-degree Cubature Kalman Filter (CKF) used for initial alignment under large misalignment angle conditions is insufficient, an improved fifth-degree CKF algorithm is proposed in this paper. In order to make full use of the innovation on filtering, the innovation covariance matrix is calculated recursively by an innovative sequence with an exponent fading factor. Then a new adaptive error covariance matrix scaling algorithm is proposed. The Singular Value Decomposition (SVD) method is used for improving the numerical stability of the fifth-degree CKF in this paper. In order to avoid the overshoot caused by excessive scaling of error covariance matrix during the convergence stage, the scaling scheme is terminated when the gradient of azimuth reaches the maximum. The experimental results show that the improved algorithm has better alignment accuracy with large misalignment angles than the traditional algorithm. |
| first_indexed | 2024-04-11T12:36:03Z |
| format | Article |
| id | doaj.art-d3a3c546a45a4b60bc614308418d39fc |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T12:36:03Z |
| publishDate | 2018-02-01 |
| publisher | MDPI AG |
| record_format | Article |
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| spelling | doaj.art-d3a3c546a45a4b60bc614308418d39fc2022-12-22T04:23:38ZengMDPI AGSensors1424-82202018-02-0118265910.3390/s18020659s18020659Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment AnglesWei Wang0Xiyuan Chen1Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaKey Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaIn view of the fact the accuracy of the third-degree Cubature Kalman Filter (CKF) used for initial alignment under large misalignment angle conditions is insufficient, an improved fifth-degree CKF algorithm is proposed in this paper. In order to make full use of the innovation on filtering, the innovation covariance matrix is calculated recursively by an innovative sequence with an exponent fading factor. Then a new adaptive error covariance matrix scaling algorithm is proposed. The Singular Value Decomposition (SVD) method is used for improving the numerical stability of the fifth-degree CKF in this paper. In order to avoid the overshoot caused by excessive scaling of error covariance matrix during the convergence stage, the scaling scheme is terminated when the gradient of azimuth reaches the maximum. The experimental results show that the improved algorithm has better alignment accuracy with large misalignment angles than the traditional algorithm.http://www.mdpi.com/1424-8220/18/2/659initial alignmentlarge misalignment anglefifth-degree cubature Kalman filterfading memory index weighting |
| spellingShingle | Wei Wang Xiyuan Chen Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles Sensors initial alignment large misalignment angle fifth-degree cubature Kalman filter fading memory index weighting |
| title | Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles |
| title_full | Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles |
| title_fullStr | Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles |
| title_full_unstemmed | Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles |
| title_short | Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles |
| title_sort | application of improved 5th cubature kalman filter in initial strapdown inertial navigation system alignment for large misalignment angles |
| topic | initial alignment large misalignment angle fifth-degree cubature Kalman filter fading memory index weighting |
| url | http://www.mdpi.com/1424-8220/18/2/659 |
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