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《Journal of Beijing University of Aeronautics and Astronautics》 2008-05
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Method of any two-position alignment based on predictive filter for SINS

Gong Xiaolin Fang Jiancheng(School of Instrument Science and Opto-electronics Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100083,China)  
Aiming at the initial alignment of strapdown inertial navigation system(SINS) with a large azimuth misalignment angle,the nonlinear mathematics model based on additive quaternion error(AQE) equations was established.And any two-position alignment method based on model predictive filter(MPF) and extended Kalman filter(EKF) was proposed.In this method,parts of inertial element errors were regarded as the model error,and estimated as part of the solution.The model error was not limited to Gaussian noise characteristics,and the algorithm could be implemented on-line to both filter noisy measurements and estimate state trajectories.The results of tests show that this method has better precision and faster convergence of all misalignment angles especially the azimuth one than that of EKF.Furthermore,this method improves the alignment's real time by reducing the number of states.
【Fund】: 国家863基金资助项目(2006AA12A108);; 国家自然科学基金资助项目(60602047)
【CateGory Index】: V249.322
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【Co-references】
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1 MIAO Ling-juan; TIAN Hai (Department of Automatic Control, Beijing Institute of Technology, Beijing 100081 );Fast Initial Alignment and Its Errors of RLG Strapdown Inertial Navigation System for Land Vehicle[J];JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY;2000-02
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