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	Application of adaptive UKF in initial alignment of MINS/GPS integrated navigation system (EI CONFERENCE)
	Jiao W.-B. ; Gao Q. ; Su W.-X. ; Wang M.
	2010
会议名称	2010 3rd International Conference on Advanced Computer Theory and Engineering, ICACTE 2010, August 20, 2010 - August 22, 2010
会议地点	Chengdu, China
关键词	In order to overcome the shortcomings of standard unscented Kalman filter (UKF) which are obviously influenced by the error of initial value and the model error of system adaptive UKF which is based on the adaptive principle is applied in initial alignment of the MINS/GPS integrated navigation system. Coarse alignment cannot be done by micro inertial measurement unit (MIMU) itself because of its low precision the method of using magnetometer to assist it with coarse alignment is presented. Simulation results show that the adaptive UKF can overcome the influences of initial values error and inaccurate system model and improve the convergence speed and alignment accuracy effectively. 2010 IEEE.
页码	V2224-V2228
收录类别	EI
内容类型	会议论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/33973]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式 GB/T 7714	Jiao W.-B.,Gao Q.,Su W.-X.,et al. Application of adaptive UKF in initial alignment of MINS/GPS integrated navigation system (EI CONFERENCE)[C]. 见:2010 3rd International Conference on Advanced Computer Theory and Engineering, ICACTE 2010, August 20, 2010 - August 22, 2010. Chengdu, China.

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