摘要：In this research, an effective nine-accelerometerconfiguration is designed to form a gyroscope free strapdowninertial navigation system (GFSINS), and the absolute valuemethod is adopted to calculate angular velocity. This paperproposes an UKF attitude estimation algorithm for the starsensoraided GFSINS integrated navigation system. The experimentalresults show that, UKF algorithm avoids the higherorder truncation error in EKF, and improves the steady-stateprecision and convergence speed to some extent. Especially incomplex models, UKF is free from computational complexity ofthe Jacobi matrix, thus highlighting the rapidity and improvingthe computation efficiency of the system. Consequently, thisnavigation methodology could be competent for some highprecision and long-endurance navigation tasks.
关键词：GFSINS; star sensor; angular velocity calculation;attitude estimation; UKF
