Research on gfsins/star-sensor integrated attitude estimation algorithm based on ukf

In this research, an effective nine-accelerometer configuration is designed to form a gyroscope free strapdown inertial navigation system (GFSINS), and the absolute value method is adopted to calculate angular velocity. This paper proposes an UKF attitude estimation algorithm for the star-sensor aided GFSINS integrated navigation system. The experimental results show that, UKF algorithm avoids the higher order truncation error in EKF, and improves the steady-state precision and convergence speed to some extent. Especially in complex models, UKF is free from computational complexity of the Jacobi matrix, thus highlighting the rapidity and improving the computation efficiency of the system. Consequently, this navigation methodology could be competent for some high precision and long-endurance navigation tasks.