UKF is applied to nonlinear initial alignment of SINS on the stationary base.
将UKF方法应用于静基座对准，研究了非线性静基座对准问题。
Linear and nonlinear error models for Inertial Navigation System (INS) initial alignment are established.
建立了惯导系统(INS)初始对准的线性和非线性误差模型。
According to the peculiarity of the SINS nonlinear error model, the simplified SPKF algorithm was derived, and the SINS initial alignment were simulated based on EKF and simplified SPKF.
针对对准模型的特性，推导了SPKF简化算法，进行了静基座下基于扩展卡尔曼滤波(ekf)、简化spkf的SINS初始对准仿真。
According to the peculiarity of the SINS nonlinear error model, the simplified SPKF algorithm was derived, and the SINS initial alignment were simulated based on EKF and simplified SPKF.
针对对准模型的特性，推导了SPKF简化算法，进行了静基座下基于扩展卡尔曼滤波(ekf)、简化spkf的SINS初始对准仿真。
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