基于平方根中心差分卡尔曼滤波的大方位失准角初始对准

基于大方位失准角条件下捷联惯导系统误差模型的非线性特点,采用非线性滤波方法进行初始对准.扩展卡尔曼滤波存在精度低,且需要计算雅可比矩阵等不足,而中心差分卡尔曼滤波在递推过程中具有计算量大,数值不稳定等缺点.针对上述问题采用了一种改进的中心差分滤波算法一一平方根中心差分卡尔曼滤波.仿真结果表明,与扩展卡尔曼滤波相比,平方...

Initial alignment of large azimuth misalignment based on square root central difference kalman filter

Based on the characteristics that the error model of the strapdown inertial navigation system is nonlinear when with large azimuth misalignment,the nonlinear filtering methods are utilized in initial alignment.The extended Kalman filter has low precision and requires the computation of Jacobian matrix,and the central difference Kalman filter has the problem of numerical instability and large amount of computation in recursive processes.In view of the above problems,the modified square root central differenc...