Next Article in Journal
Enhanced Humidity Sensitivity with Silicon Nanopillar Array by UV Light
Previous Article in Journal
Methionine-Capped Gold Nanoclusters as a Fluorescence-Enhanced Probe for Cadmium(II) Sensing
Open AccessArticle

Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles

Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(2), 659; https://doi.org/10.3390/s18020659
Received: 22 December 2017 / Revised: 20 February 2018 / Accepted: 21 February 2018 / Published: 23 February 2018
(This article belongs to the Section Physical Sensors)
In view of the fact the accuracy of the third-degree Cubature Kalman Filter (CKF) used for initial alignment under large misalignment angle conditions is insufficient, an improved fifth-degree CKF algorithm is proposed in this paper. In order to make full use of the innovation on filtering, the innovation covariance matrix is calculated recursively by an innovative sequence with an exponent fading factor. Then a new adaptive error covariance matrix scaling algorithm is proposed. The Singular Value Decomposition (SVD) method is used for improving the numerical stability of the fifth-degree CKF in this paper. In order to avoid the overshoot caused by excessive scaling of error covariance matrix during the convergence stage, the scaling scheme is terminated when the gradient of azimuth reaches the maximum. The experimental results show that the improved algorithm has better alignment accuracy with large misalignment angles than the traditional algorithm. View Full-Text
Keywords: initial alignment; large misalignment angle; fifth-degree cubature Kalman filter; fading memory index weighting initial alignment; large misalignment angle; fifth-degree cubature Kalman filter; fading memory index weighting
Show Figures

Figure 1

MDPI and ACS Style

Wang, W.; Chen, X. Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles. Sensors 2018, 18, 659.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Search more from Scilit
 
Search
Back to TopTop