Adaptive unscented Kalman filter in Inertial Navigation System alignment
Xianlin Huang, Zhenkai Wang · 2011
An adaptive unscented Kalman filter is presented, in this algorithm, modified Sage-Husa noise statistics estimator is introduced to estimate the process noise variances adaptively. The nonlinear filter is applied in INS alignment with large azimuth error. Simulation results show that adaptive Unscented Kalman filter performance well in the special case.