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Chinese Journal of Lasers, Volume. 47, Issue 12, 1201008(2020)

Application of Wavelet Kalman Cascade Filtering Algorithm in Strapdown Inertial Navigation System

Li Xiang, Wang Lixin*, Shen Qiang, and Li Can
Author Affiliations
  • College of Missile Engineering, Rocket Force University of Engineering, Xi''an, Shaanxi 710025, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (12)
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    References (24)
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    Figures & Tables(12)
    Flow chart of initial alignment

    Fig. 1. Flow chart of initial alignment

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    Flow chart of solving heading angle

    Fig. 2. Flow chart of solving heading angle

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    Image of baseline vector of double antenna

    Fig. 3. Image of baseline vector of double antenna

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    Flow chart of wavelet filtering

    Fig. 4. Flow chart of wavelet filtering

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    Curve of adaptive threshold

    Fig. 5. Curve of adaptive threshold

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    Process comparison of different algorithms

    Fig. 6. Process comparison of different algorithms

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    Error of heading angle filtering estimation of different algorithms. (a) WUKCF; (b) SKUKCF; (c) EAUKF; (d) SKF; (e) WKCF; (f) EASKF

    Fig. 7. Error of heading angle filtering estimation of different algorithms. (a) WUKCF; (b) SKUKCF; (c) EAUKF; (d) SKF; (e) WKCF; (f) EASKF

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    Pitch angle alignment errors of different algorithms. (a) WUKCF; (b) SKUKCF; (c) EAUKF; (d) SKF; (e) WKCF; (f) EASKF

    Fig. 8. Pitch angle alignment errors of different algorithms. (a) WUKCF; (b) SKUKCF; (c) EAUKF; (d) SKF; (e) WKCF; (f) EASKF

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    Roll angle alignment errors of different algorithms. (a) WUKCF; (b) SKUKCF; (c) EAUKF; (d) SKF; (e) WKCF; (f) EASKF

    Fig. 9. Roll angle alignment errors of different algorithms. (a) WUKCF; (b) SKUKCF; (c) EAUKF; (d) SKF; (e) WKCF; (f) EASKF

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    Heading angle alignment errors of different algorithms

    Fig. 10. Heading angle alignment errors of different algorithms

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    Comparison of heading angle alignment error between WUKCF algorithm and other algorithms. (a) SKUKCF; (b) EAUKF; (c) SKF; (d) WKCF; (e) EASKF; (f) SKUKCF and EAUKF

    Fig. 11. Comparison of heading angle alignment error between WUKCF algorithm and other algorithms. (a) SKUKCF; (b) EAUKF; (c) SKF; (d) WKCF; (e) EASKF; (f) SKUKCF and EAUKF

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    • Table 1. Attitude angle alignment errors of different algorithms

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      Table 1. Attitude angle alignment errors of different algorithms

      Algorithmeψ/(')Sψeθ/(')Sθeγ/(')Sγ
      WUKCF<51.26<123.5<123.46
      SKUKCF<103.86<123.6<123.49
      EAUKF<206.59<123.5<123.47
      SKF<4018.38<258.4<3612.30
      WKCF<258.14<256.4<3610.90
      EASKF<4013.14<2510.4<369.40
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    Li Xiang, Wang Lixin, Shen Qiang, Li Can. Application of Wavelet Kalman Cascade Filtering Algorithm in Strapdown Inertial Navigation System[J]. Chinese Journal of Lasers, 2020, 47(12): 1201008

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    Paper Information

    Category: laser devices and laser physics

    Received: Jul. 12, 2020

    Accepted: --

    Published Online: Dec. 7, 2020

    The Author Email: Lixin Wang (1561479526@qq.com)

    DOI:10.3788/CJL202047.1201008

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology