Proceedings of the International Conference on Chemical, Material and Food Engineering

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A Fast Initial Alignment Method for SINS Used Adaptive Sample Size Unscented Particle Filter

Authors
Jiaxu Yang, Xueguang Yuan, Yangan Zhang
Corresponding Author
Jiaxu Yang
Available Online July 2015.
DOI
10.2991/cmfe-15.2015.157How to use a DOI?
Keywords
strapdown inertial navigation system; initial alignment; quaternion-based error model; adaptive sample size unscented particle filter; KLD-Sampling method
Abstract

A fast initial alignment method used Adaptive sample size unscented particle filter (AUPF) for SINS is proposed in this paper. As the SINS initial alignment with large misalignment angle is a typical nonlinear and non-Gaussian filtering problem, the unscented particle filter (UPF) is widely used in existing alignment technologies. UPF suffers from the inherent drawback of costly calculation, even though it is considered as the optimal nonlinear estimate method up to now. The new method overcomes the huge computational burden by embedding KLD-Sampling method into the re-sampling procedure of the standard UPF, so that the number of particles can ensure to be least dynamically. In addition, a quaternion-based nonlinear error model is established to not only describe the propagation of errors, but also play an important role in the implementation of filters. To verify the efficiency of the proposed method, the turntable test and computer simulations are conducted. The results of the simulations demonstrate that the new method can effectively reduce the calculation and improve the real-time performance.

Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the International Conference on Chemical, Material and Food Engineering
Series
Advances in Engineering Research
Publication Date
July 2015
ISBN
10.2991/cmfe-15.2015.157
ISSN
2352-5401
DOI
10.2991/cmfe-15.2015.157How to use a DOI?
Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

risenwbib
TY  - CONF
AU  - Jiaxu Yang
AU  - Xueguang Yuan
AU  - Yangan Zhang
PY  - 2015/07
DA  - 2015/07
TI  - A Fast Initial Alignment Method for SINS Used Adaptive Sample Size Unscented Particle Filter
BT  - Proceedings of the International Conference on Chemical, Material and Food Engineering
PB  - Atlantis Press
SP  - 665
EP  - 668
SN  - 2352-5401
UR  - https://doi.org/10.2991/cmfe-15.2015.157
DO  - 10.2991/cmfe-15.2015.157
ID  - Yang2015/07
ER  -