In-Flight Alignment Method of Integrated SINS/GPS Navigation System Based on Combined PF-UKF Filter

doi:10.16183/j.cnki.jsjtu.2022.167

Abstract

Abstract:

Aimed at the modeling error of the integrated strapdown inertial navigation system(SINS)/global positioning system (GPS) navigation system and the particle degradation problem of particle filter(PF), an in-flight alignment method of integrated SINS/GPS navigation system based on the combined PF-UKF filter is proposed, in combiation with the unscented Kalman filter(UKF). First, the attitude angle is replaced by the error quaternion. The position and velocity differences between SINS and GPS are selected as the observation variables. In addition, a novel error equation of the integrated navigation system is established. Moreover, the sampled particles are divided into random particles and deterministic particles in the proposed combined PF-UKF filter. The random particles are collected by probability density function, and the determined particles are the state values obtained by collecting sigma point of UKF algorithm. Therefore, the proposed method can effectively reduce the complexity of PF and the degree of particle degradation. The simulation results show that compared with the UKF algorithm, the proposed method can effectively improve the error accuracy of integrated navigation system with a better robustness.

Key words: integrated navigation, unscented Kalman filter (UKF), particle filter (PF), quaternion

CLC Number:

V249.32

GAO Honglian, YOU Jie, CAO Songyin. In-Flight Alignment Method of Integrated SINS/GPS Navigation System Based on Combined PF-UKF Filter[J]. Journal of Shanghai Jiao Tong University, 2022, 56(11): 1447-1452.

Figures/Tables 4

References 14

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方法	位置误差标准差/m			速度误差标准差/(m·s^-1)
方法	经度	纬度	高度	东向	北向	天向
PF	0.8583	0.3060	0.3960	0.0317	0.0451	0.0401
PF-UKF	0.3162	0.1012	0.2265	0.0260	0.0354	0.0236