Journal ArticleDOI
Nonlinear filtering methods application in INS alignment
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TLDR
The algorithm for solving the problem of optimal estimation of the state vector described by nonlinear equations from linear measurements has been developed for the analysis of a potential alignment accuracy with the piecewise-Gaussian approximation of a posteriori density used.Citations
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Journal ArticleDOI
Study on Innovation Adaptive EKF for In-Flight Alignment of Airborne POS
Fang Jiancheng,Yang Sheng +1 more
TL;DR: In this paper, an adaptive filtering algorithm of an extended Kalman filter (EKF) combined with innovation-based adaptive estimation is proposed, which introduces the calculated innovation covariance into the computation of the filter gain matrix directly.
Journal ArticleDOI
Predictive Iterated Kalman Filter for INS/GPS Integration and Its Application to SAR Motion Compensation
Jiancheng Fang,Xiaolin Gong +1 more
TL;DR: Through flight tests, it is shown that the PIKF has an obvious accuracy advantage over the IEKF and unscented Kalman filter (UKF) in velocity.
Journal ArticleDOI
INS algorithm using quaternion model for low cost IMU
TL;DR: A generic inertial navigation system (INS) error propagation model that does not rely on small misalignment angles assumption is presented and an INS algorithm is developed for low cost inertial measurement unit (IMU) to solve the initial attitudes uncertainty using in-motion alignment.
Proceedings ArticleDOI
Development of a nonlinear psi-angle model for large misalignment errors and its application in INS alignment and calibration
TL;DR: This work presents a general nonlinear psi-angle approach that does not require coarse alignment and is identical to the standard small error methods when the process errors diminish to small angles.
Journal ArticleDOI
Strapdown inertial navigation system alignment based on marginalised unscented kalman filter
TL;DR: In this paper, a computationally efficient refinement of the unscented transformation (UT) called marginalised UT (MUT) is investigated in these special non-linear systems with a linear substructure.
References
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Journal ArticleDOI
Recursive bayesian estimation using gaussian sums
H. W. Sorenson,D. L. Alspach +1 more
TL;DR: A density approximation involving convex combinations of gaussian density functions is introduced and proposed as a meaningful way of circumventing the difficulties encountered in evaluating these relations and in using the resulting densities to determine specific estimation policies.
Book
Aerospace Avionics Systems: A Modern Synthesis
TL;DR: Introduction, Coordinate Systems and Transformations, Inertial Sensors, and Kinematic Compensations Equations.
Journal ArticleDOI
Application of Kalman filtering to the calibration and alignment of inertial navigation systems
TL;DR: In this article, the attitude error equation is augmented by gyro and accelerometer model parameters for the calibration and alignment of complex inertial guidance systems, and the mechanization of the algorithm involves preprocessing the raw measurements to reduce the computational load.