MSSS-UKF滤波在大方位失准角初始对准中的应用

针对大方位失准角初始对准中非线性滤波的实时性问题,在分析UKF滤波中的Sigma点采样策略基础上,将最小偏度单形采样策略应用于UKF滤波算法的Sigma点采样过程,并将基于最小偏度单形采样的UKF应用于大方位失准角的非线性初始对准过程。仿真结果显示,基于最小偏度单形采样策略(Minimal Skew Simplex Sampling)的UKF对姿态失准角估计的快速性要明显优于基于对称采样策略的UKF滤波算法,且可以满足惯导系统对对准精度和时间的要求。

Research on Unscented Kalman Filter Based on Minimal Skew Simplex Sampling in Initial Alignment of Inertial Navigation System

In view of real time of nonlinear filter for initial alignment of inertial navigation system （INS） with large azimuth misalign angle,the Sigma sampling policy of Unscented Kalman filter （UKF） was analyzed and studied. The minimal skew simplex sampling policy was used in UKF and applied in initial alignment of INS with large heading misalign angle to estimate the attitude misalign angle. According to the comparing the simulation results with the UKF based on the scale symmetry sampling policy （SUKF）,the estimated accuracy and speediness are better than SUKF,which meet the precision requirements of INS to initial alignment.