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Self-regulation-based unscented Kalman filter (UKF) misalignment angle initial-alignment method

A technology of initial alignment and misalignment angle, which is applied in the field of filtering, can solve the problems of poor robustness of UKF filtering, etc., and achieve the effect of increasing robustness and improving anti-interference ability

Inactive Publication Date: 2014-02-12
HARBIN ENG UNIV
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Problems solved by technology

[0005] The present invention provides a method for initial alignment of UKF misalignment angle based on self-adjustment, which is used to solve the problem of poor robustness of UKF filtering in the prior art

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  • Self-regulation-based unscented Kalman filter (UKF) misalignment angle initial-alignment method

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Embodiment Construction

[0022] The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0023] Embodiments of the present invention provide a new method for initial alignment of UKF with large misalignment angles based on self-adjustment, including:

[0024] Step 1. According to the error characteristics of the inertial navigation system, a nonlinear error model of filtering is established. The nonlinear error model includes: a state equation and a measurement equation.

[0025] Step 2: Set the initial filter value. make and P 0|-1 =P 0 . where x 0 is the initial value of the state variable, P 0 is the initial covariance of the state variables.

[0026] Step three, according to the formula Select the optimal value of the adjustment parameter (κ is the free adjustment parameter value), where K={κ:κ min ∈R,κ max ∈R,κ min ≤κ≤κ max} are some fixed possible values ​​that satisfy the positive definite covariance matrix of...

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Abstract

The invention discloses a self-regulation-based unscented Kalman filter (UKF) misalignment angle initial-alignment method. The method comprises the following steps: (1) writing a state equation and a measurement equation of filtering according to the error characteristics of initial inertial navigation alignment; (2) setting initial filtering values X0 and P0; (3) determining an optimum value of a regulation parameter; (4) under the condition of a formula, determining a mean value and a covariance Pk / k of a filtering state according to a nonlinear error model; (5) under the condition of the formula, determining a predicted mean value (Xk+1) / k and a covariance (Pk+1) / k of the filtering state according to the nonlinear error model, and aligning a misalignment angle by virtue of the (Xk+1) / k and (Pk+1) / k. According to the method, misalignment angle errors of a carrier system and a navigation system can be effectively estimated, and reliable accuracy is provided for navigation and positioning.

Description

technical field [0001] The invention relates to the field of filtering, in particular to a method for initial alignment of UKF misalignment angles based on self-adjustment. Background technique [0002] The main task of state estimation is how to estimate the state vector of the system from observations containing noise. Nonlinear filtering methods have become a research hotspot in various industries in recent decades. Especially with the continuous development of computer simulation technology, nonlinear filtering theory has been greatly developed. The commonly used nonlinear filtering methods in engineering are Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). However, EKF has two major disadvantages, which limit its application to a certain extent. First of all, when the nonlinearity of the system is relatively strong, the filtering error caused by linearization will be relatively large, and even cause the filtering to diverge. Secondly, the Jacobian mat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005G01C21/20
Inventor 黄平程广舟袁顺高伟奔粤阳
Owner HARBIN ENG UNIV
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