简化七阶CQKF及其在SINS大失准角初始对准中的应用

针对捷联惯性导航系统（SINS）大失准角初始对准的滤波过程,提出简化七阶正交容积卡尔曼滤波算法（7th-SCQKF）。根据简化容积卡尔曼滤波(CKF)理论,推导出改进的简化七阶CKF算法（7th-MSSRCKF）,改进了原简化七阶CKF（7th-SSRCKF）的性能;同时,在7th-SSRCKF和7th-MSSRCKF基础上,引入正交半径准则,提出简化七阶CQKF（7th-SCQKF）算法,提高了滤波精度;并将简化七阶CQKF（7th-SCQKF）算法应用到SINS的大失准角初始对准仿真中,结果表明,7th-SCQKF比7th-MSSRCKF的滤波精度高,验证了新算法的正确性和有效性。

A Seventh Degree Simplified CQKF and Its Application in SINS Initial Alignment of Misalignment Angle

A seventh-degree orthogonal simplified cubature Kalman filter algorithm (7th-SCQKF) is proposed for the initial alignment of a strapdown inertial navigation system (SINS). According to the simplified CKF theory, this paper introduces the improved seventh-order simplified CKF algorithm (7th-MSSRCKF), which improves the performance of the original seventh-degree simplified CKF (7th-SSRCKF). At the same time, on the basis of the 7th-SSRCKF and 7th-MSSRCKF, the 7th-SCQKF is proposed to improve the filtering accuracy. In the meantime, the seventh-degree simplified CQKF (7th-SCQKF) algorithm is applied to SINS’s large misalignment angle initial alignment simulation. It is proved that the filtering accuracy of the 7th-SCQKF is higher than that of the 7th-MSSRCKF, which verifies the correctness and validity of the new algorithm.