Robust Networks for Initial Alignment of Strap-down Inertial Navigation Systems

摘要：

This paper presents a method for the initial alignment of strap-down inertial navigation system on stationary base. In the coarse alignment, Magnetism compass and accelerometer are used to get the initial pose angles. In the precise alignment, radial basis function network (RBF network), in which radial function chosen by averaging method and weights adjusted by an improved Hi robust filter, is applied to correct the pose angles to ensure the robustness and real-time computing. Simulation results show that comparing with ordinary Hx filter learning algorithm and extended Kalman filter, this method is efficient and rapid for initial alignment

关键词： SINS initial alignment Kalman filter neural networks Hk filter

作者: He Juan He Xiaorong Liu Shuxi

作者单位: School of Electronic Information and Automation Chongqing University of Technology Chongqing, China

会议类型: 国际会议

会议名称: 2011 3rd International Conference on Computer and Automation Engineering(ICCAE 2011)(2011年第三届IEEE计算机与自动化工程国际会议)

会议地点: 重庆

会议语种:英文

页码: 374-378

在线出版日期: 2011-01-21（万方平台首次上网日期，不代表论文的发表时间）