摘要
Abstract
For the problem of Strapdown Inertial Navigation System on stationary base under the initial align-ment, the paper proposes a new nonlinear filtering method which combines the Cubature Kalman Filter and Ex-tended Kalman Filter. Therefore, under the situation of large azimuth misalignment angle, the paper establishes a mathematical model based on stationary base. Simulation results show that: For the horizontal misalignment angle, the filtering effect of EKF is equal to E-CKF; but in large azimuth misalignment angle, the azimuth misalignment angle estimation error of E-CKF is reduced than the estimated error of about EKF 2.5'.关键词
初始对准/容积卡尔曼滤波器/失准角/捷联惯性导航系统Key words
Initial Alignment/Kalman Filter/Misalignment Angle/SINS分类
交通工程
