Abstract:

In case of that the error model of strapdown inertial navigation system with large azimuth misalignment angle is nonlinear, an iterated central difference Kalman filter (ICDKF) is used in initial alignment. Compared with the traditional extended Kalman filter, ICDKF not only improves filter precision but also avoids calculating the complicated Jacobian matrix. And ICDKF can improve the estimation accuracy of existing central difference Kalman filter with iterated measurement updating procedure. The simulation results further demonstrate the feasibility and superiority of ICDKF, which the requirement of initial alignment can be met.