） 摘要： Since the states of the system are not totally observable, particle filter cannot collect adequate measurement information as demanded while marginalized particle filter is applied to stationary self-alignment with large misalignment angles
To solve this problem, a filtering model of initial alignment with large misalignment angles is constructed
A marginalized particle filtering method assisted by the gyro measurement information is proposed
The simulation results show that the proposed approach can greatly lighten the heavy computational load with high dimensions and large initial errors, quicken the alignment speed of the azimuth misalignment angle, and get higher initial alignment precision than the conventional method with ordinary particle filter
关键词： Particle filter;Initial alignment;Inertial navigation system;Strapdown inertial navigation system Xiong Jian
） Abstract： Since the states of the system are not totally observable, particle filter cannot collect adequate measurement information as demanded while marginalized particle filter is applied to stationary self-alignment with large misalignment angles
To solve this problem, a filtering model of initial alignment with large misalignment angles is constructed
A marginalized particle filtering method assisted by the gyro measurement information is proposed
The simulation results show that the proposed approach can greatly lighten the heavy computational load with high dimensions and large initial errors, quicken the alignment speed of the azimuth misalignment angle, and get higher initial alignment precision than the conventional method with ordinary particle filter
Keywords： Particle filter;Initial alignment;Inertial navigation system;Strapdown inertial navigation system 下载PDF阅读器 PDF全文下载： 初稿 （ 172 ） 作者简介： Xiong Jian(),Male,Doctor,Main research:Inertial Navigation
通信联系人： LAI Jizhou（1977-）
male,Associate Professor,Basic research fields:FOG-based inertial navigation technology,SINS/GNSS integrated navigation and intelligent measurement and control system
【收录情况】 中国科技论文在线： 熊剑
刘建业 2
* （ 1、 南京航空航天大学自动化学院导航研究中心
2、 南京航空航天大学自动化学院导航研究中心
刘建业
赖际舟
捷联惯导初始对准中的marginalized粒子滤波[EB/OL]
