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《Journal of Astronautics》 2009-01
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Study and Application of UKF in the TNDS Initial Alignment

XU Jin-hua,XU Jiang-ning,ZHANG Xiao-feng,ZHU Tao(College of Electrical and Information Engineering,Naval Univ.of Engineering,Wuhan 430033,China)  
TNDS(True North Determination System) is presented in this paper,Which is integrated a middle accuracy INS and MS860 GPS.A appropriate UKF(Unscented Kalman Filter) is designed for TNDS.The quick TNDS initial alignment in high accuracy has been achieved with UKF optimization algorithm.The nonlinear error model for the actual physical system TNDS initial alignment has been developed in detail.Based on the model,the proposed GPS/INS UKF initial algorithm is designed and tested.The performance in tests is achieved and TNDS initial alignment test results were denoted in the figures.The test cases show that adopted GPS/INS UKF algorithm TNDS azimuth alignment time in initial alignment,attaining 0.1° accuracy,is reduced from original 2879s with INS stand alone self alignment to 179s in the same condition of the azimuth misalignment angle 25°.Roll and pitch initial alignment time also reduced greatly with the optimal UKF algorithm in the same condition.And the convergence of the velocity of TNDS also well improved.
【CateGory Index】: TN967.1
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