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Considering the characteristic and computation superiority of quaternion representing body attitude movement information, and aiming at the initial alignment procedure of strap-down inertial navigation system (SINS) with large initial misalignment angles, this paper develops its multiplicative quaternion error model. With the faults analysis of traditional quaternion mean calculation methods, it developed...
Multi-target tracking is an important component of a surveillance, guidance, and obstacle avoidance system. The probability hypothesis density (PHD) filter is an attractive approach to tracking an unknown, and time varying number of targets in the presence of data association uncertainty, clutter, noise, and miss-detection. But there is no closed-form solution to the PHD recursion. Another approach...
Based on multivariate distribution F-deviation representative point of number theory, an improved Deterministic Particle Filter (DPF) algorithm is presented in this paper, in which unequal weight is used for particle generation, important particle sampling and particle re-sampling. To meet the actual needs, a nonlinear transfer alignment model for Airborne Inertial Navigation System with large misalignment...
A new variable tap-length LMS algorithm is proposed, in which the error width is made variable rather than fixed. A changing factor is defined to satisfy the change requirement of the error width. Simulations are performed under both low noise and high noise conditions with different error widths, which show that the proposed algorithm can converge fast and at the same time obtain a small steady state...
This paper presents a nonlinear dynamical model for the in-motion alignment of the inertial navigation system (INS) in the case that the observation variable is the velocity information. It allows the initial misalignment uncertainty. Therefore, this model is also suitable for the transfer alignment based on the velocity matching algorithm. Then the Gaussian particle filter (GPF) is analyzed and utilized...
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