Master-Slave INS Transfer Alignment Based on State-Transformation Extended Kalman Filter

In this study, a fast transfer alignment algorithm that fuses the velocity-attitude-position of the Master-Slave INS is proposed. A state-transformation extended Kalman filter (ST-EKF) with better filtering robustness is used instead of the conventional extended Kalman filter (EKF) for the transfer alignment of the Master-Slave INS. The accuracy of the proposed algorithm is verified by three sets of on-board field transfer alignment experiments under different maneuvering trajectories. The results show that the proposed ST -EKF -based transfer alignment algorithm has higher alignment accuracy and faster convergence speed, and the 180s localization accuracy RMSE of the ST-EKF algorithm is improved by 23.29% on average compared to the EKF algorithm.