HCKF性能评估及其在传递对准中的应用

Aiming at the applicability of the high-degree cubature Kalman filter (HCKF) in the transfer alignment, a performance evaluation method based on the Taylor series expansion of a multivariable function and the computational complexity analysis is proposed. The model of HCKF is established based on the high-order spherical-radial cubature rule, and the estimation accuracy and calculation amount are quantified and analyzed. The HCKF can capture the fifth-order terms of the Taylor series expansion, and the computational complexity is at least O(n⁴). Moreover, the theoretical analysis also demonstrates that the comprehensive performance of the HCKF is better than the other two typical nonlinear filter algorithms, the Gaussian-Hermite quadrature filter (GHQF) and the unscented Kalman filter (UKF). The swing bench test results are achieved by applying the three non-linear filter algorithms to the transfer alignment system of the carrier-born aircraft under large misalignment angle. It shows that the estimation accuracy of HCKF is 17% higher than that of the UKF, and its calculation amount is two orders of magnitude smaller than that of the GHQF, which is consistent with the conclusion of the HCKF performance evaluation.