Application of Kalman filtering to the calibration and alignment of inertial navigation systems

Grewal M.S.; Henderson V.D.

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Application of Kalman filtering to the calibration and alignment of inertial navigation systems

机译：卡尔曼滤波在惯性导航系统标定和对准中的应用

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The development of Kalman filters for the calibration and alignment of complex inertial guidance systems is presented. The attitude error equation is augmented by gyro and accelerometer model parameters. The mechanization of the algorithm involves preprocessing the raw measurements to reduce the computational load. Results for simulated data show that preprocessing has very little effect on the performance of the filter. Other topics discussed include gyro and accelerometer models and a technique for generating parameter excitation trajectories.

机译：介绍了用于复杂惯性制导系统的校准和对准的卡尔曼滤波器的开发。陀螺仪和加速度计模型参数增加了姿态误差方程。该算法的机械化包括对原始测量值进行预处理以减少计算量。模拟数据的结果表明，预处理对滤波器的性能影响很小。讨论的其他主题包括陀螺仪和加速度计模型以及用于生成参数激励轨迹的技术。

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《IEEE Transactions on Automatic Control》 |1991年第1期|P.3-13|共11页
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Grewal M.S.; Henderson V.D.;
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1. Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles [J] . Wei Wang, Xiyuan Chen Sensors . 2018,第2期

机译：改进的第五立方卡尔曼滤波器在大失准角初始捷联惯导系统对准中的应用
2. Comparison of robust H∞ filter and Kalman filter for initial alignment of inertial navigation system [J] . HAO Yan-ling, CHEN Ming-hui, LI Liang-jun, 船舶与海洋工程学报（英文版） . 2008,第002期

机译：惯性导航系统初始对准的鲁棒H∞滤波器和卡尔曼滤波器的比较
3. Improving the speed of initial alignment for marine strapdown inertial navigation systems using heading control signal feedback in extended Kalman filter [J] . Hossein Rahimi, Amir Ali Nikkhah International Journal of Advanced Robotic Systems . 2020,第1期

机译：在扩展卡尔曼滤波器中提高使用标题控制信号反馈的船舶挂钩惯性导航系统初始对准速度
4. Application of Kalman filtering to the calibration and alignment of inertial navigation systems [C] . Grewal, M.S., Henderson, . 1990

机译：卡尔曼滤波在惯性导航系统标定和对准中的应用
5. Using extended Kalman filtering (EKF) to fuse GPS and inertial navigation systems (INS) for land vehicle control. [D] . Zhang, Hao. 2004

机译：使用扩展的卡尔曼滤波（EKF）融合GPS和惯性导航系统（INS）进行陆地车辆控制。
6. Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles [O] . Wei Wang, Xiyuan Chen 2018

机译：改进的第五立方卡尔曼滤波器在大失准角初始捷联惯导系统对准中的应用
7. Dynamic Magnetometer Calibration and Alignment to Inertial Sensors by Kalman Filtering [O] . Wu, Yuanxin, Zou, Danping, Liu, Peilin, 2016

机译：动态磁强计校准与惯性传感器对准卡尔曼过滤

Application of Kalman filtering to the calibration and alignment of inertial navigation systems

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