Rapid Transfer Alignment of MEMS SINS Based on Adaptive Incremental Kalman Filter
Abstract
:1. Introduction
2. Model of SINS Transfer Alignment
2.1. SINS Mechanized Arrangement
2.2. SINS Error Model
2.3. Flexural Deflection Error Model
2.4. State and Measurement Equations of the Transfer Alignment
3. The Improved Adaptive Incremental Kalman Transfer Alignment Algorithm
3.1. The Adaptive Kalman Filter (AKF)
3.2. The Adaptive Incremental Kalman Filter (AIKF)
3.3. Comparison of AKF and AIKF
4. Simulation Test and Results
5. Conclusions
Acknowledgments
Author Contributions
Conflicts of Interest
References
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AIKF | AKF | KF | ||
---|---|---|---|---|
Noise estimator | 2n2 + 3n | 2n2 + 3n | - | |
2n2 + m2 + 2nm2 − nm + 2n2m + 4n3 | 4n3 + 2n2m + 2n2 + 3mn − n | - | ||
4mn + 3m | 2mn + 3m | - | ||
12mn2 + 8m2n + 3m2 − 6mn | 4m2 + 2mn2 + 2m2n − mn | - | ||
Prediction update | 2n2 | 2n2 | 2n2 | |
Pk,k−1 | 4n3 − n2 | 4n3 − n2 | 4n3−n2 | |
Measurement update | 10mn + 2m − n | 4mn + m | nm + n + m | |
Pk | 8mn2 + 6m2n-m2 − 4mn | 4mn2 + 4m2n − 2mn | 2mn2 + 2n3 − n2 | |
Kk | 4n2m + 2n3 + 2nm2 − n2 − 2nm + m3 | 2mn2 + 2m2n − 2mn + m3 | 4n2m + 4nm2 − 3nm + m3 | |
In total | 4n2 + 2n + 10n3 + 5m + 3m2 + 18nm2 + nm + 26n2m + m3 | 8n3 + 10n2m + 5n2 + 4mn + 2n + 4m + 4m2 + 8m2n + m3 | 6n3 + 6mn2 + 4nm2 − 2nm + m3 + m + n | |
n = 21, m= 6 | 177,300 | 109,731 | 74,457 |
Gyro | Accelerometer | |
---|---|---|
Bias drift | 250 °/h | 10 mg |
Noise | 0.5 °/ | 1 mg/ |
Algorithm | Estimation Error of Gyroscope Bias/(°/h) | Estimation Error of Accelerometer Bias/(mg) | ||||
---|---|---|---|---|---|---|
x-Axis | y-Axis | z-Axis | x-Axis | y-Axis | z-Axis | |
KF | 6.94 | 6.71 | 7.00 | 6.18 | 1.36 | 0.21 |
AIKF | 0.81 | 0.81 | 0.73 | 0.81 | 0.14 | 0.02 |
Algorithm | Estimation Error of Attitude Error/(′) | Estimation Error of Velocity Error /(m/s) | ||||
---|---|---|---|---|---|---|
x-Axis | Y-Axis | z-Axis | x-Axis | y-Axis | z-Axis | |
KF | 10.42 | 18.81 | 4.77 | 0.0151 | 0.0151 | 0.0147 |
AIKF | 1.33 | 2.46 | 0.48 | 0.0016 | 0.0015 | 0.0015 |
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Chu, H.; Sun, T.; Zhang, B.; Zhang, H.; Chen, Y. Rapid Transfer Alignment of MEMS SINS Based on Adaptive Incremental Kalman Filter. Sensors 2017, 17, 152. https://doi.org/10.3390/s17010152
Chu H, Sun T, Zhang B, Zhang H, Chen Y. Rapid Transfer Alignment of MEMS SINS Based on Adaptive Incremental Kalman Filter. Sensors. 2017; 17(1):152. https://doi.org/10.3390/s17010152
Chicago/Turabian StyleChu, Hairong, Tingting Sun, Baiqiang Zhang, Hongwei Zhang, and Yang Chen. 2017. "Rapid Transfer Alignment of MEMS SINS Based on Adaptive Incremental Kalman Filter" Sensors 17, no. 1: 152. https://doi.org/10.3390/s17010152
APA StyleChu, H., Sun, T., Zhang, B., Zhang, H., & Chen, Y. (2017). Rapid Transfer Alignment of MEMS SINS Based on Adaptive Incremental Kalman Filter. Sensors, 17(1), 152. https://doi.org/10.3390/s17010152