Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Analysis of In-Flight Alignment Using UKF

UKE를 사용한 운항 중 정렬 성능 분석

  • 강우용 (서울대학교 기계항공공학부/정밀기계설계공동연구소) ;
  • 김광진 (서울대학교 기계항공공학부/정밀기계설계공동연구소) ;
  • 박찬국 (서울대학교 기계항공공학부/정밀기계설계공동연구소)
  • Published : 2006.11.01
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Abstract

In this paper, in-flight alignment algorithm using UKF is presented for an SDINS aided by SSBL or GPS system under large initial heading error. The EKF usually applied for this task. This approximates the propagation of mean and covariance accurate to first-order only. To overcome this limitation, the unscented transformation that achieves second order approximation is applied to the in-flight alignment. To analyze the performance of the proposed method, simulations for S-type trajectory are carried out. The results show that performance of EKF and UKF are the almost same when the initial heading error is smaller than $30^{\circ}$, but UKF has a better performance for large initial heading error about $45^{\circ}$.

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References

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  1. Nonlinear Filtering Approaches to In-flight Alignment of SDINS with Large Initial Attitude Error vol.20, pp.4, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1884