Application of Nonlinear Filtering for SINS Initial Alignment
Wei Hong Gao, Bo Xu, Hongjun Sun, Fei Yu · 2006
The paper derived the initial alignment error equation of the SINS (strapdown inertial navigation system) when the azimuth errors are considerably large. Because of including the nonlinear part in the equation, two methods of extended Kalman filter and scaled unscented Kalman filter are used to simulate the nonlinear system. The simulation results show that the accuracy of scaled unscented Kalman filter for the azimuth estimate is better than extended Kalman filter