[1] Zhou Benchuan, Cheng Xianghong,. Robust UKF algorithm in SINS initial alignment [J]. Journal of Southeast University (English Edition), 2011, 27 (1): 56-60. [doi:10.3969/j.issn.1003-7985.2011.01.012]

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Robust UKF algorithm in SINS initial alignment()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

27

Issue:

2011 1

Page:

56-60

Research Field:

Instrument Science and Technology

Publishing date:

2011-03-30

Info

Title:

Robust UKF algorithm in SINS initial alignment

Author(s):

Zhou Benchuan;  Cheng Xianghong

Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Southeast University, Nanjing 210096, China

Keywords:

unscented Kalman filter(UKF);  robustness;  Krein space;  initial alignment;  large heading misalignment angle

PACS:

U666.1

DOI:

10.3969/j.issn.1003-7985.2011.01.012

Abstract:

In the traditional unscented Kalman filter(UKF), accuracy and robustness decline when uncertain disturbances exist in the practical system. To deal with the problem, a robust UKF algorithm based on an H-infinity norm is proposed. In Krein space, a robust element is added in the simplified UKF so as to improve the algorithm. The filtering gain is adjusted by the robust element and in this way the performance of the robustness of the filtering algorithm is promoted. In the initial alignment process of the large heading misalignment angle of the strapdown inertial navigation system(SINS), comparative studies are conducted on the robust UKF and the simplified UKF. The simulation results illustrate that compared with the simplified UKF, the robust UKF is more accurate, and the estimation error of heading misalignment decreases from 16.9′ to 4.3′. In short, the robust UKF can reduce the sensitivity to the system disturbances resulting in better performance.

References:

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[7] Zhao Lin, Wang Xiaoxu, Sun Ming, et al. Adaptive UKF filtering algorithm based on maximum a posterior estimation and exponential weighting[J]. Acta Autoatica Sinica, 2010, 36(7): 1007-1019.(in Chinese)
[8] Zhou Weidong, Qiao Xiangwei, Ji Yuren, et al. An innovation and residual-based adaptive UKF algorithm[J]. Journal of Astronautics, 2010, 31(7): 1798-1804.(in Chinese)
[9] Wang Xiaogang, Guo Jifeng, Cui Naigang. Robust sigma-point filtering and its application to relative navigation[J]. Acta Aeronautica et Astronautica Sinaca, 2010, 31(5): 1024-1029.(in Chinese)
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[11] Zhang Xianda. Matrix analysis and applications[M]. Beijing: Tsinghua University Press, 2004.(in Chinese)

Memo

Memo:

Biographies: Zhou Benchuan(1984—), male, graduate; Cheng Xianghong(corresponding author), female, doctor, professor, xhcheng@seu.edu.cn.
Foundation item: The National Basic Research Program of China(973 Program)(No.613121010202).
Citation: Zhou Benchuan, Cheng Xianghong. Robust UKF algorithm in SINS initial alignment[J].Journal of Southeast University(English Edition), 2011, 27(1):56-60.[doi:10.3969/j.issn.1003-7985.2011.01.012]

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