测控技术2013，Vol.32Issue(8)：8-11,4.
EKF和SUKF在大摇摆基座初始对准中的应用
Application of EKF and SUKF in SINS Alignment on Great-Swing Base
摘要
Abstract
Simplified nonlinear navigation error models under large misalignment angles are deduced and nonlinear SUKF and EKF for initial alignment on great-swing base are designed,which effectively solves the problem that the traditional analytical coarse alignment algorithm can not accomplish initial alignment in swinging circumstance.After roughly binding initial attitudes,these two kinds of nonlinear filters achieve accurate alignment directly without any coarse alignment procedure.Finally,simulations under ship-mooring swinging circumstance are conducted to verify the effectiveness of the algorithms and alignment results are compared.The results show that the alignment precisions of the two nonlinear filters are quite same.Considering the computational complexity,the EKF algorithm has much better practicability.关键词
摇摆基座/初始对准/非线性滤波/EKF/SUKFKey words
swing base/ initial alignment/ nonlinear filters/ EKF/ SUKF分类
交通工程引用本文复制引用
张金亮,秦永元,梅春波..EKF和SUKF在大摇摆基座初始对准中的应用[J].测控技术,2013,32(8):8-11,4.基金项目
武器装备预研基金(9140A09031310HK0319) （9140A09031310HK0319）
