As a common integrated navigation system, the strapdown inertial navigation system (SINS)/global positioning system (GPS) can estimate velocity and position errors well. Many auxiliary attitude measurement systems can be used to improve the accuracy of attitude angle errors. In this paper, the in-flight alignment problem of the integrated SINS/GPS/Polarization/Geomagnetic navigation system is discussed. Firstly, the SINS/Geomagnetic subsystem is constructed to improve the estimation accuracy of horizontal attitude angles. Secondly, the polarization sensor is used to improve the estimation accuracy of heading angle. Then, a federal unscented Kalman filter (FUKF) with non-reset structure is applied to fuse the navigation data. Finally, simulation results for the integrated navigation system are provided based on experimental data. It can be shown that the proposed approach can improve not only the speed and position, but also the attitude error effectively.

中文翻译：

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基于联邦UKF的集成SINS/GPS/极化/地磁导航系统的飞行对准

作为一种常见的组合导航系统，捷联惯导系统（SINS）/全球定位系统（GPS）可以很好地估计速度和位置误差。许多辅助姿态测量系统可用于提高姿态角误差的准确性。本文讨论了综合SINS/GPS/极化/地磁导航系统的飞行对准问题。首先，构建SINS/地磁子系统，提高水平姿态角的估计精度。其次，利用偏振传感器提高了航向角的估计精度。然后，应用具有非重置结构的联邦无迹卡尔曼滤波器（FUKF）来融合导航数据。最后，基于实验数据提供了组合导航系统的仿真结果。