INITIAL ALIGNMENT METHOD FOR SINS BASED ON GPR AND IMPROVED SRCKF

摘要

An initial alignment method for an SINS based on a GPR and an improved SRCKF, comprising: first obtaining different pieces of sensor data and pre-processing same; establishing an equation of state and a measurement equation of a carrier system; selecting a cubature point of an SRCKF by using an SSR rule, and establishing a recursive equation of the improved SRCKF; performing recursion by using the recursive equation of the improved SRCKF to finally obtain an attitude error angle of a carrier through recursion during initial alignment; in the environment where quick alignment is required, establishing a GPR model; and estimating, according to the current measurement data of the system, the attitude error angle of the system in the current alignment process, and calculating an attitude matrix to complete an initial alignment task. The alignment method improves the robustness of the SRCKF, improves the numerical value stability of a filter algorithm, reduces the computing amount of a high order SRCKF, accelerates the initial alignment speed, and can obtain the initial alignment result matching the precision of the improved SRCKF.