Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements
In order to decrease the velocity sculling error under vibration environments, a new sculling error compensation algorithm for strapdown inertial navigation system (SINS) using angular rate and specific force measurements as inputs is proposed in this paper. First, the sculling error formula in incr...
Main Authors: | , , |
---|---|
Format: | Article |
Language: | English |
Published: |
MDPI AG
2018-01-01
|
Series: | Sensors |
Subjects: | |
Online Access: | http://www.mdpi.com/1424-8220/18/1/282 |
id |
doaj-35fcc6a69e2b46b4ab713fab0353d274 |
---|---|
record_format |
Article |
spelling |
doaj-35fcc6a69e2b46b4ab713fab0353d2742020-11-24T21:13:34ZengMDPI AGSensors1424-82202018-01-0118128210.3390/s18010282s18010282Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial MeasurementsLingling Wang0Li Fu1Ming Xin2School of Automation Science and Electrical Engineering, Beihang University, Beijing 10083, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing 10083, ChinaDepartment of Mechanical and Aerospace Engineering, University of Missouri, Columbia, MO 65211, USAIn order to decrease the velocity sculling error under vibration environments, a new sculling error compensation algorithm for strapdown inertial navigation system (SINS) using angular rate and specific force measurements as inputs is proposed in this paper. First, the sculling error formula in incremental velocity update is analytically derived in terms of the angular rate and specific force. Next, two-time scale perturbation models of the angular rate and specific force are constructed. The new sculling correction term is derived and a gravitational search optimization method is used to determine the parameters in the two-time scale perturbation models. Finally, the performance of the proposed algorithm is evaluated in a stochastic real sculling environment, which is different from the conventional algorithms simulated in a pure sculling circumstance. A series of test results demonstrate that the new sculling compensation algorithm can achieve balanced real/pseudo sculling correction performance during velocity update with the advantage of less computation load compared with conventional algorithms.http://www.mdpi.com/1424-8220/18/1/282sculling errorsingular perturbationtwo-time scale perturbation modelvelocity updatepseudo scullinginertial measurement |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Lingling Wang Li Fu Ming Xin |
spellingShingle |
Lingling Wang Li Fu Ming Xin Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements Sensors sculling error singular perturbation two-time scale perturbation model velocity update pseudo sculling inertial measurement |
author_facet |
Lingling Wang Li Fu Ming Xin |
author_sort |
Lingling Wang |
title |
Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements |
title_short |
Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements |
title_full |
Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements |
title_fullStr |
Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements |
title_full_unstemmed |
Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements |
title_sort |
sculling compensation algorithm for sins based on two-time scale perturbation model of inertial measurements |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2018-01-01 |
description |
In order to decrease the velocity sculling error under vibration environments, a new sculling error compensation algorithm for strapdown inertial navigation system (SINS) using angular rate and specific force measurements as inputs is proposed in this paper. First, the sculling error formula in incremental velocity update is analytically derived in terms of the angular rate and specific force. Next, two-time scale perturbation models of the angular rate and specific force are constructed. The new sculling correction term is derived and a gravitational search optimization method is used to determine the parameters in the two-time scale perturbation models. Finally, the performance of the proposed algorithm is evaluated in a stochastic real sculling environment, which is different from the conventional algorithms simulated in a pure sculling circumstance. A series of test results demonstrate that the new sculling compensation algorithm can achieve balanced real/pseudo sculling correction performance during velocity update with the advantage of less computation load compared with conventional algorithms. |
topic |
sculling error singular perturbation two-time scale perturbation model velocity update pseudo sculling inertial measurement |
url |
http://www.mdpi.com/1424-8220/18/1/282 |
work_keys_str_mv |
AT linglingwang scullingcompensationalgorithmforsinsbasedontwotimescaleperturbationmodelofinertialmeasurements AT lifu scullingcompensationalgorithmforsinsbasedontwotimescaleperturbationmodelofinertialmeasurements AT mingxin scullingcompensationalgorithmforsinsbasedontwotimescaleperturbationmodelofinertialmeasurements |
_version_ |
1716748814081064960 |