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Volume 39 Issue 12
Dec.  2013
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Journal of Beijing University of Aeronautics and Astronautics  > 2013  >  39(12): 1624-1628.
Chen Yu, Zhao Yan, Li Qunshenget al. QCKF based rapid transfer alignment for large misalignment angles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(12): 1624-1628. (in Chinese)
Citation: Chen Yu, Zhao Yan, Li Qunshenget al. QCKF based rapid transfer alignment for large misalignment angles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(12): 1624-1628. (in Chinese)
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QCKF based rapid transfer alignment for large misalignment angles

  • School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 04 Feb 2012
  • Publish Date: 30 Dec 2013
    Abstract
  • A quaternion cubature Kalman filter(QCKF) based rapid transfer alignment for airborne weapon-s strapdown inertial navigation system with large misalignment angles was presented. The transfer alignment of velocity plus attitude match model based on multiplicative quaternion was derived. The idea of augmenting the noise into the state vector was adopted to handle the nonlinear process and measurement noise. Considering the rotation quaternion has the characteristics of normalization and quaternion with opposite sign represents the same rotation, the weighted averaging of quaternion part in cubature Kalman filter(CKF) algorithm was changed into projection length weighted averaging with constraint conditions and the quaternion-s sign was processed before calculating covariance in the CKF algorithm. Simulation results show that the proposed algorithm can improve the alignment accuracy in large misalignment angles case.

     

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