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《Electronics Optics & Control》 2008-06
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Application of adaptive Kalman filter in initial alignment of SINS on stationary base

ZHENG Jia-hua,WANG Hong-li,DUAN Xiao-qing,HOU Qing-jian(The Second Artillery Engineering Institute,Xi'an 710025,China)  
Since the parameters of a Strap-down Inertial Navigation System(SINS) model usually have some deviations from the actual physical process,and the noise statistic characteristics is not exactly known,the normal Kalman filter may behave badly or diverge.In order to avoid filtering divergence,the Sage-Husa adaptive filtering algorithm is applied to the initial alignment of SINS.The simulation result showed that the algorithm improves the precision and the speed of convergence to a great degree.
【CateGory Index】: V249.322
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