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发表时间：2022-10-10

发表刊物：大连理工大学学报

所属单位：电子信息与电气工程学部

卷号：52

期号：5

页面范围：736-742

ISSN号：1000-8608

摘要：Euler platform error angles(EPEA) are adopted to describe the
   misalignment angles from the theoretical navigation coordinate system to
   the computational navigation coordinate system,and the strapdown
   inertial navigation system(SINS) nonlinear error model is derived for
   initial alignment at large initial misalignment angles.The simplified
   extended Kalman filter(EKF) and unscented Kalman filter(UKF) algorithms
   with damp solution are presented when both process noise and measurement
   noise are additive and the measurement equation is linear,and a
   comparison is made between the filtering processes for different
   misalignment angles.The Monte Carlo results from the stationary
   simulation show that both EKF and UKF algorithms can obtain satisfactory
   alignment accuracy under large and large azimuth misalignment angles.But
   UKF is superior in alignment time,alignment precision and application
   scope in most cases except for the case of small misalignment angles,and
   in such a situation they have the same alignment performance due to the
   fact that the linearization error of SINS becomes smaller.

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