UKF를 이용한 운항중 정렬 알고리즘

Abstract

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°).