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
- Chinese Journal of Lasers
- Vol. 47, Issue 12, 1201008 (2020)
Fig. 1. Flow chart of initial alignment
Fig. 2. Flow chart of solving heading angle
Fig. 3. Image of baseline vector of double antenna
Fig. 4. Flow chart of wavelet filtering
Fig. 5. Curve of adaptive threshold
Fig. 6. Process comparison of different algorithms
Fig. 7. Error of heading angle filtering estimation 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
Fig. 9. Roll angle alignment errors of different algorithms. (a) WUKCF; (b) SKUKCF; (c) EAUKF; (d) SKF; (e) WKCF; (f) EASKF
Fig. 10. Heading angle alignment errors of different algorithms
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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