An Alignment Method Based on KF-ASMUKF Hybrid Filtering for Ship’s SINS under Mooring Conditions

To solve the problem that the ship’s strapdown inertial navigation system (SINS) alignment accuracy decreases with the increase of the nonlinear filtering state dimension under mooring conditions, a method based on Kalman filter (KF) and Adaptive scale mini-skewness single line sampling Unscented Ka...

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Autores principales:	Pengchao Yao, Gongliu Yang, Xiafu Peng
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	SINS ASMUKF hybrid filter algorithm mooring alignment Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/57fd8b1d9a7a4311ad45294e3855b2f4
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id	oai:doaj.org-article:57fd8b1d9a7a4311ad45294e3855b2f4
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spelling	oai:doaj.org-article:57fd8b1d9a7a4311ad45294e3855b2f42021-11-11T19:06:49ZAn Alignment Method Based on KF-ASMUKF Hybrid Filtering for Ship’s SINS under Mooring Conditions10.3390/s212171041424-8220https://doaj.org/article/57fd8b1d9a7a4311ad45294e3855b2f42021-10-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7104https://doaj.org/toc/1424-8220To solve the problem that the ship’s strapdown inertial navigation system (SINS) alignment accuracy decreases with the increase of the nonlinear filtering state dimension under mooring conditions, a method based on Kalman filter (KF) and Adaptive scale mini-skewness single line sampling Unscented Kalman Filter (ASMUKF) hybrid filtering algorithm is proposed in this paper. Three improvements are made as the following: (1) adopt a new sampling strategy. To obtain the ASMUKF filtering algorithm, scale mini-skewness single line sampling is used to replaced the traditional symmetrical sampling method and an adaptive scale factor is adapted into the Unscented Kalman Filter (UKF) to correct the real-time transformation sampling process; (2) the improved ASMUKF algorithm is combined with KF to form KF-ASMUKF hybrid filtering model; (3) the hybrid filtering model is divided into linear and nonlinear parts. The linear filtering part adopts the KF filtering model and the nonlinear filtering part adopts the ASMUKF model. Then, the calculation steps of the hybrid filtering algorithm is designed in this paper. The simulation and experimental results show that the hybrid filtering algorithm proposed has certain advantages over the traditional algorithm, and it can reduce the ship’s SINS calculation amount and improve alignment accuracy under mooring conditions.Pengchao YaoGongliu YangXiafu PengMDPI AGarticleSINSASMUKFhybrid filter algorithmmooring alignmentChemical technologyTP1-1185ENSensors, Vol 21, Iss 7104, p 7104 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	SINS ASMUKF hybrid filter algorithm mooring alignment Chemical technology TP1-1185
spellingShingle	SINS ASMUKF hybrid filter algorithm mooring alignment Chemical technology TP1-1185 Pengchao Yao Gongliu Yang Xiafu Peng An Alignment Method Based on KF-ASMUKF Hybrid Filtering for Ship’s SINS under Mooring Conditions
description	To solve the problem that the ship’s strapdown inertial navigation system (SINS) alignment accuracy decreases with the increase of the nonlinear filtering state dimension under mooring conditions, a method based on Kalman filter (KF) and Adaptive scale mini-skewness single line sampling Unscented Kalman Filter (ASMUKF) hybrid filtering algorithm is proposed in this paper. Three improvements are made as the following: (1) adopt a new sampling strategy. To obtain the ASMUKF filtering algorithm, scale mini-skewness single line sampling is used to replaced the traditional symmetrical sampling method and an adaptive scale factor is adapted into the Unscented Kalman Filter (UKF) to correct the real-time transformation sampling process; (2) the improved ASMUKF algorithm is combined with KF to form KF-ASMUKF hybrid filtering model; (3) the hybrid filtering model is divided into linear and nonlinear parts. The linear filtering part adopts the KF filtering model and the nonlinear filtering part adopts the ASMUKF model. Then, the calculation steps of the hybrid filtering algorithm is designed in this paper. The simulation and experimental results show that the hybrid filtering algorithm proposed has certain advantages over the traditional algorithm, and it can reduce the ship’s SINS calculation amount and improve alignment accuracy under mooring conditions.
format	article
author	Pengchao Yao Gongliu Yang Xiafu Peng
author_facet	Pengchao Yao Gongliu Yang Xiafu Peng
author_sort	Pengchao Yao
title	An Alignment Method Based on KF-ASMUKF Hybrid Filtering for Ship’s SINS under Mooring Conditions
title_short	An Alignment Method Based on KF-ASMUKF Hybrid Filtering for Ship’s SINS under Mooring Conditions
title_full	An Alignment Method Based on KF-ASMUKF Hybrid Filtering for Ship’s SINS under Mooring Conditions
title_fullStr	An Alignment Method Based on KF-ASMUKF Hybrid Filtering for Ship’s SINS under Mooring Conditions
title_full_unstemmed	An Alignment Method Based on KF-ASMUKF Hybrid Filtering for Ship’s SINS under Mooring Conditions
title_sort	alignment method based on kf-asmukf hybrid filtering for ship’s sins under mooring conditions
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/57fd8b1d9a7a4311ad45294e3855b2f4
work_keys_str_mv	AT pengchaoyao analignmentmethodbasedonkfasmukfhybridfilteringforshipssinsundermooringconditions AT gongliuyang analignmentmethodbasedonkfasmukfhybridfilteringforshipssinsundermooringconditions AT xiafupeng analignmentmethodbasedonkfasmukfhybridfilteringforshipssinsundermooringconditions AT pengchaoyao alignmentmethodbasedonkfasmukfhybridfilteringforshipssinsundermooringconditions AT gongliuyang alignmentmethodbasedonkfasmukfhybridfilteringforshipssinsundermooringconditions AT xiafupeng alignmentmethodbasedonkfasmukfhybridfilteringforshipssinsundermooringconditions
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An Alignment Method Based on KF-ASMUKF Hybrid Filtering for Ship’s SINS under Mooring Conditions

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