Abstract:

Aimed at the requirement of high estimation precision and real time in the real in-flight alignment application，a method of extended Kalman filter base on model error predictive(MEP-EKF) is used for micro inertial measurement unit (MIMU) in-flight alignment. The simulation results show that this method has better precision of the-azimuth-than those of extended Kalman filter(EKF) and unscented Kalman filter(UKF) during the different maneuvers, and the heading error decreases very quickly from large value 30° to around 1°.

Key words: strapdown , inertial , navigation , system,  , in flight , alignment,  , predictive , filter,  , EKF,  , UKF,  , MIMU,  , GPS