The shaking error compensation for gun-board SINS

The gun-board strapdown inertial navigation system is taken as the research object. Because of the residual high order nonlinear error of the system can not be compensated effectively, a combination estimation method based on fast orthogonal search algorithm (FOS) is proposed, combined with Kalman filter (KF), which not only eliminates the linearity error, but also plays a good role in restraining the residual high-order nonlinear error of the system. The results show that, when GPS is outage, the navigation accuracy can be improved more effectively by FOS/KF compared with by KF-only. After the compensation, the average horizontal velocity error is only 0.034 m/s, the positioning error can be basically kept within 10 m, and the high precision autonomous navigation under nonlinear condition is realized.