S-Space College of Engineering/Engineering Practice School (공과대학/대학원) Dept. of Mechanical Aerospace Engineering (기계항공공학부) Journal Papers (저널논문_기계항공공학부)
Non-Symmetric Unscented Transformation with Application to In-Flight Alignment
- Issue Date
- Springer Verlag
- International Journal of Control, Automation, and Systems, 8, 4, 776-781
- To overcome the extended Kalman Filter (EKF) limitation, the unscented transformation
(UT) was developed as a method to propagate mean and covariance information through nonlinear
transformation. However, the ordinary UT has both local and global sampling problems. In this paper,
non-symmetric unscented transformation (NSUT) is proposed to solve these problems. The sigma
point sets of the NSUT are non-symmetrically located with respect to the zeroth sigma point set which
is equal to the prior mean. Then, the weights of the sigma points are derived by using some conditions
for mean and covariance. The non-symmetric unscented Kalman filter (NSUKF) based on the sigma
points and weights of the NSUT are applied to the in-flight alignment (IFA) with a large heading error.
With a low cost MEMS IMU, the simulations are carried out at an S-type trajectory to analyze the performance
of the proposed method.
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