无迹卡尔曼滤波器在惯导初始对准中的应用研究

滤波技术在惯导系统初始对准中的应用是一项重要的研究内容，随着非线性滤波技术的发展，如何通过新的滤波技术来提高初始对准的性能近年来得到了广泛关注。文章针对可扩展卡尔曼滤波器存在着计算复杂和滤波不稳定的缺点，尝试了一种新的非线性滤波器——无迹卡尔曼滤波器。针对所采用的非线性初始对准模型的特点，对无迹卡尔曼滤波器进行了简化，将简化后的无迹卡尔曼滤波器应用于非线性初始对准中，得到了较好的对准效果。

Research on Application of UKF in Initial Alignment

Filtering techniques is an important research content in initial alignment of INS. With the development of nonlinear filters, how to improve the result of initial alignment taking advantage of new filtering techniques has caught great concerns recently. Considering the drawbacks such as implementation difficulties and unstable performance of EKF, a new nonlinear filter called UKF was introduced to replace it. A simplified UKF was proposed according to the feature of nonlinear alignment model, which had good performance in estimating misalignment angles.