Abstract:

Affected by initial error, the inertial navigation system (INS) will generate periodic oscillation and divergence error. To deal with this problem, an estimation algorithm based on adaptive fading Kalman filter (AFKF) and fixed point smoothing (FPS) is proposed. The initial error is estimated, and the divergence error is derived from the error model of INS, in order to calibrate the output of INS. Simulation results show that the proposed algorithm can restrain the oscillation and divergence of INS errors effectively.