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The error model of the initial alignment of the marine strapdown inertial navigation system is nonlinear, while the azimuth angle error is large on the swaying base. For this nonlinear model, a new nonlinear filter called as the central difference Gaussian Particle filter is proposed, which is based on the central difference Kalman filter and the Gaussian Particle filter. The central difference Kalman...
A closed-loop reduced-order Kalman filter is utilized to perform initial alignment of ring laser gyroscope strapdown inertial navigation system. The observability of the system with different measurement models were analyzed in detail. Navigation algorithm in alignment is modified to feedback continuously for the closed-loop system. The feasibility of this solution is verified through simulation and...
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