An extended Kalman particle filter algorithm for HRG-based srapdown attitude system

摘要

In this paper, we propose a leveling algorithm based on extended Kalman particle filter (EKPF) for compensating the initial attitude error and the accumulated error. The meaning of leveling in the paper is to acquire two attitude angles of the roll and the pitch of the aircraft during its motion. The EKPF algorithm is applied to our inertial attitude reference unit based on the hemispherical resonator gyroscope (HRG), which is made in China. Simulation results indicate that the performance of the proposed leveling algorithm is superior to that of the standard extended Kalman filter (EKF).