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Non-symmetric unscented transformation with application to in-flight alignment

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Abstract

To overcome the extended Kalman Filter (EKF) limitation, the unscented transformation (UT) was developed as a method to propagate mean and covariance information through nonlinear transformation. However, the ordinary UT has both local and global sampling problems. In this paper, non-symmetric unscented transformation (NSUT) is proposed to solve these problems. The sigma point sets of the NSUT are non-symmetrically located with respect to the zeroth sigma point set which is equal to the prior mean. Then, the weights of the sigma points are derived by using some conditions for mean and covariance. The non-symmetric unscented Kalman filter (NSUKF) based on the sigma points and weights of the NSUT are applied to the in-flight alignment (IFA) with a large heading error. With a low cost MEMS IMU, the simulations are carried out at an S-type trajectory to analyze the performance of the proposed method.

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Authors and Affiliations

  1. DOOSAN DST Co. Ltd, 39-2, Sungbok-dong, Yongin-si, Gyeonggi-do, 135-703, Korea

    Kwangjin Kim

  2. School of Mechanical and Aerospace Engineering, the Institute of Advanced Aerospace Technology, Seoul National University, Seoul, 151-744, Korea

    Chan Gook Park

Authors
  1. Kwangjin Kim
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  2. Chan Gook Park
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Corresponding author

Correspondence to Kwangjin Kim.

Additional information

Recommended by Editor Hyun Seok Yang. This work was supported in part by the Ministry of Education, Science and Technology of Republic of Korea under NSL (National Space Lab, S10801000163-08A0100-16310).

Kwangjin Kim received his B.S. and M.S. degrees in Control and Instrumentation Engineering from Kwangwoon University in 1995 and 1997, respectively. In 2008, he received his Ph.D. degree from the School of Mechanical and Aerospace Engineering at Seoul National University. From 1997 to 2004, he was a researcher at the Agency for Defense Development, Daejun, Korea. He is a Chief Research Engineer at the Defense Research Center, DOOSAN DST Co., Ltd. His research interests include navigation systems, nonlinear estimation, and integrated systems.

Chan Gook Park received his B.S., M.S., and Ph.D. degrees in Control and Instrumentation Engineering from the Seoul National University in 1985, 1987, and 1993, respectively. He worked as a postdoctoral fellow at the Engineering Research Center for Advanced Control and Instrumentation, Seoul National University, in 1993. From 1994 to 2003 he was with Kwangwoon University as an Associate Professor. In 2003, he joined the faculty of the School of Mechanical and Aerospace Engineering at Seoul National University, where he is currently a Professor. In 1998 and 2009, he worked with Prof. Jason L. Speyer at UCLA and Prof. Panagiotis Tsiotras at Georgia Inst. of Technology, respectively, as a visiting scholar. His research interests include filtering techniques, inertial navigation systems, GPS/INS integration, and personal navigation systems.

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Kim, K., Park, C.G. Non-symmetric unscented transformation with application to in-flight alignment. Int. J. Control Autom. Syst. 8, 776–781 (2010). https://doi.org/10.1007/s12555-010-0409-z

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  • DOI: https://doi.org/10.1007/s12555-010-0409-z

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