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Sensors 2017, 17(11), 2670; doi:10.3390/s17112670

Stochastic Integration H Filter for Rapid Transfer Alignment of INS

1,* and 2,3
1
School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China
2
Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China
3
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
*
Author to whom correspondence should be addressed.
Received: 21 September 2017 / Revised: 11 November 2017 / Accepted: 15 November 2017 / Published: 18 November 2017
(This article belongs to the Special Issue Inertial Sensors for Positioning and Navigation)
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Abstract

The performance of an inertial navigation system (INS) operated on a moving base greatly depends on the accuracy of rapid transfer alignment (RTA). However, in practice, the coexistence of large initial attitude errors and uncertain observation noise statistics poses a great challenge for the estimation accuracy of misalignment angles. This study aims to develop a novel robust nonlinear filter, namely the stochastic integration H filter (SIH F) for improving both the accuracy and robustness of RTA. In this new nonlinear H filter, the stochastic spherical-radial integration rule is incorporated with the framework of the derivative-free H filter for the first time, and the resulting SIH F simultaneously attenuates the negative effect in estimations caused by significant nonlinearity and large uncertainty. Comparisons between the SIH F and previously well-known methodologies are carried out by means of numerical simulation and a van test. The results demonstrate that the newly-proposed method outperforms the cubature H filter. Moreover, the SIH F inherits the benefit of the traditional stochastic integration filter, but with more robustness in the presence of uncertainty. View Full-Text
Keywords: inertial navigation system; rapid transfer alignment; stochastic integration H∞ filter inertial navigation system; rapid transfer alignment; stochastic integration H∞ filter
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Zhou, D.; Guo, L. Stochastic Integration H Filter for Rapid Transfer Alignment of INS. Sensors 2017, 17, 2670.

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