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Airborne Earth Observation Positioning and Orientation by SINS/GPS Integration Using CD R-T-S Smoothing

Published online by Cambridge University Press:  20 September 2013

Xiaolin Gong  and
Tingting Qin
Xiaolin Gong*
Affiliation:
(Science and Technology on Inertial Laboratory, Key Laboratory of Fundamental Science for National Defense-Novel Inertial Instrument and Navigation System Technology and BeiHang University, School of Instrumentation Science and Opto-electronics Engineering; all Beijing, China)
Tingting Qin
Affiliation:
(Science and Technology on Inertial Laboratory, Key Laboratory of Fundamental Science for National Defense-Novel Inertial Instrument and Navigation System Technology and BeiHang University, School of Instrumentation Science and Opto-electronics Engineering; all Beijing, China)
*
(E-mail: gongxiaolin@buaa.edu.cn)
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Abstract

This paper addresses the issue of state estimation in the integration of a Strapdown Inertial Navigation System (SINS) and Global Positioning System (GPS), which is used for airborne earth observation positioning and orientation. For a nonlinear system, especially with large initial attitude errors, the performance of linear estimation approaches will degrade. In this paper a nonlinear error model based on angle errors is built, and a nonlinear estimation algorithm called the Central Difference Rauch-Tung-Striebel (R-T-S) Smoother (CDRTSS) is utilized in SINS/GPS integration post-processing. In this algorithm, the measurements are first processed by the forward Central Difference Kalman filter (CDKF) and then a separate backward smoothing pass is used to obtain the improved solution. The performance of this algorithm is compared with a similar smoother based on an extended Kalman filter known as ERTSS through Monte Carlo simulations and flight tests with a loaded SINS/GPS integrated system. Furthermore, a digital camera was used to verify the precision of practical applications in a check field with numerous reference points. All these validity checks demonstrate that CDRTSS is a better method and the work of this paper will offer a new approach for SINS/GPS integration for Synthetic Aperture Radar (SAR) and other airborne earth observation tasks.

Keywords

SINS/GPS integrationNonlinear smoothingCD Kalman filterR-T-S Smoother
Type
Research Article
Information
The Journal of Navigation , Volume 67 , Issue 2 , March 2014 , pp. 211 - 225
Copyright
Copyright © The Royal Institute of Navigation 2013 

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