Stochastic Estimation of Angular Orientation Parameters of a Moving Object by Inertial-Satellite Measurements

Abstract

The problem of angular orientation of a moving object is solved using measurements of the strapdown inertial navigation system (SINS) and the satellite navigation system (SNS) under the most general assumptions about the character of the angular motion of the object and probabilistic characteristics of noises in inertial measurements. The soltion is obtained in the form of an extended Kalman filter in which the direction cosines of rotation in an inertial coordinate system are used as estimated orientation parameters and the vector of measurements by the SNS and SINS accelerometers is used as the observation vector. An example illustrating the high stability and convergence rate of the process of estimating the chosen parameters of angular orientation of the moving object is presented.