S-Space College of Engineering/Engineering Practice School (공과대학/대학원) Dept. of Mechanical Aerospace Engineering (기계항공공학부) Others_기계항공공학부
UKF를 이용한 운항중 정렬 알고리즘
In-flight Alignment Algorithm Using UKF
- 강우용; 김광진; 박찬국
- Issue Date
- The 12th GNSS Workshop
- In this paper, GPS aided in-flight alignment algorithm using UKF is presented for an SDINS under large initial heading error. Usually, the EKF is applied for this task. However, the EKF is suboptimal choice from a theoretical point of view, as it approximates the propagation of mean and covariance of Gaussian random vectors through these nonlinear models by a linear transformation, which is accurate to first-order only. But UKF algorithms achieve an accurate approximation to at least second-order. Simulation results show that performance of EKF and UKF are the almost same when the initial heading error is small (about 30°) but UKF has a better performance for large initial heading error (about 45°).
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