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- W2387425900 abstract "Conventional error estimation method based on linear filtering adopts the angle method-based linear error model of strapdown inertial navigation system(SINS).However,its estimation is unstable and inaccurate when attitude error angle is large.Therefore,we propose a new error estimation method based on unscented Kalman filter(UKF).By building a nonlinear error model of navigation system with underwater terrain matching and taking terrain matching,position and depth measured by depth-pressure sensor as the measured quantities,we design a state-extended UKF for error estimation.Simulation results indicate that our method achieves better navigation error estimation for large attitude error angles." @default.
- W2387425900 created "2016-06-24" @default.
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- W2387425900 date "2012-01-01" @default.
- W2387425900 modified "2023-09-28" @default.
- W2387425900 title "Error Estimation Method of SINS with Large Attitude Error Angle Based on Underwater Terrain Matching" @default.
- W2387425900 hasPublicationYear "2012" @default.
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