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A series of river trials are carried out to verify the feasibility of the velocity matching method and the velocity plus attitude matching method. First of all, a hardware-in-the-loop simulation system is designed in this paper. Secondly, the kalman filter models for velocity matching and velocity plus attitude matching are introduced. Four types of river trials are done, respectively, velocity matching...
This paper presents a nonlinear error model based on the quaternion for the rapid transfer alignment of the inertial navigation system (INS). It allows the large initial misalignment uncertainty. Then, the unscented Kalman filter (UKF) is designed to achieve the nonlinear filtering based on the proposed model, and utilizes the difference in velocity and attitude between the slave and master INS as...
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