Error Estimation Method for SINS Based on State Expansion UKF and Underwater Terrain Matching
Shen Jian · Fire Control and Command Control · 2012
Sins has accumulated some error when UUV entered in matching region,so it is necessary to make use of appropriate signal integration strategy to estimate error for ensuring the precision of subsequent sailing.On base of building system nonlinear error model,a state expansion UKF filter is proposed which used the information from underwater terrain matching and depth pressure sensor as measure.Through simulation and comparison with state non-expansion UKF,results indicate that the proposed filter has preferable estimation precision,which can provide reference for sins error estimation in matching region.