Strong Tracking UKF Filter for Strapdown Inertial Navigation System Initial Alignment

This article explores the application context and key technologies of strapdown inertial navigation systems. Strapdown inertial navigation is a widely used navigation technology that determines object position and orientation by measuring acceleration and angular rates. In strapdown inertial navigation systems, initial alignment represents a critical step. We employ the strong tracking UKF (Unscented Kalman Filter) algorithm for initial alignment to enhance precision and accuracy.

To achieve this objective, we developed an inertial navigation initial alignment program using MATLAB. Our implementation not only incorporates the strong tracking UKF algorithm but also includes strapdown inertial navigation solution algorithms. The program architecture supports both simulation data and experimental data inputs, making it highly versatile and practical for various applications. The code implementation features modular design with separate functions for sensor data preprocessing, state prediction using unscented transformation, and measurement update with adaptive fading factors to maintain tracking performance.

In summary, strapdown inertial navigation technology holds significant importance and widespread applications in the navigation field. By utilizing the strong tracking UKF algorithm and our developed initial alignment program, we can improve the precision and accuracy of strapdown inertial navigation systems, thereby providing enhanced support for navigation missions. The MATLAB implementation includes key functions such as quaternion normalization, coordinate transformation routines, and covariance matrix adaptation mechanisms to ensure robust filtering performance.