Strapdown Sculling Velocity Algorithms Using Novel Input Combinations
Sculling motion is a standard input to evaluate the performance of the velocity algorithm in a highly dynamic environment. Conventional sculling algorithms usually adopt incremental angle/specific force increments or angular rate/specific force as algorithm inputs. However modern inertial sensors ha...
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2018/9823138 |
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doaj-6dfbd82db168421bb65fafe207f3e5512020-11-25T01:25:56ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472018-01-01201810.1155/2018/98231389823138Strapdown Sculling Velocity Algorithms Using Novel Input CombinationsLei Huang0Zhaochun Li1Fei Xie2Kai Feng3School of Mechanical and Electrical Engineering, Nanjing Forestry University, Nanjing 210037, ChinaSchool of Mechanical and Electrical Engineering, Nanjing Forestry University, Nanjing 210037, ChinaJiangsu Province 3D Printing Equipment and Manufacturing Key Lab, Nanjing Normal University, Nanjing 210042, ChinaSchool of Mechanical and Electrical Engineering, Nanjing Forestry University, Nanjing 210037, ChinaSculling motion is a standard input to evaluate the performance of the velocity algorithm in a highly dynamic environment. Conventional sculling algorithms usually adopt incremental angle/specific force increments or angular rate/specific force as algorithm inputs. However modern inertial sensors have different output types now, which do not correspond to the inputs of those traditional algorithms. For example, some inertial sensors have the integrated angular rate (incremental angle)/specific force outputs or angular rate/specific force increments outputs. Hence the conventional sculling algorithms cannot be easily applied to these situations. A novel sculling algorithm using incremental angle/specific force inputs or angular rate/specific force increments inputs is developed in this paper. The advantage of the novel algorithm is that it can calculate the carrier velocity directly without converting the dimension of inertial sensor outputs values. Theoretical analysis, digital simulations, and a trial study are carried out to verify our algorithm. The results demonstrate that for corresponding types of strapdown inertial navigation systems (SINS) the novel sculling algorithm exhibits better performance than the conventional sculling velocity algorithms.http://dx.doi.org/10.1155/2018/9823138 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Lei Huang Zhaochun Li Fei Xie Kai Feng |
spellingShingle |
Lei Huang Zhaochun Li Fei Xie Kai Feng Strapdown Sculling Velocity Algorithms Using Novel Input Combinations Mathematical Problems in Engineering |
author_facet |
Lei Huang Zhaochun Li Fei Xie Kai Feng |
author_sort |
Lei Huang |
title |
Strapdown Sculling Velocity Algorithms Using Novel Input Combinations |
title_short |
Strapdown Sculling Velocity Algorithms Using Novel Input Combinations |
title_full |
Strapdown Sculling Velocity Algorithms Using Novel Input Combinations |
title_fullStr |
Strapdown Sculling Velocity Algorithms Using Novel Input Combinations |
title_full_unstemmed |
Strapdown Sculling Velocity Algorithms Using Novel Input Combinations |
title_sort |
strapdown sculling velocity algorithms using novel input combinations |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2018-01-01 |
description |
Sculling motion is a standard input to evaluate the performance of the velocity algorithm in a highly dynamic environment. Conventional sculling algorithms usually adopt incremental angle/specific force increments or angular rate/specific force as algorithm inputs. However modern inertial sensors have different output types now, which do not correspond to the inputs of those traditional algorithms. For example, some inertial sensors have the integrated angular rate (incremental angle)/specific force outputs or angular rate/specific force increments outputs. Hence the conventional sculling algorithms cannot be easily applied to these situations. A novel sculling algorithm using incremental angle/specific force inputs or angular rate/specific force increments inputs is developed in this paper. The advantage of the novel algorithm is that it can calculate the carrier velocity directly without converting the dimension of inertial sensor outputs values. Theoretical analysis, digital simulations, and a trial study are carried out to verify our algorithm. The results demonstrate that for corresponding types of strapdown inertial navigation systems (SINS) the novel sculling algorithm exhibits better performance than the conventional sculling velocity algorithms. |
url |
http://dx.doi.org/10.1155/2018/9823138 |
work_keys_str_mv |
AT leihuang strapdownscullingvelocityalgorithmsusingnovelinputcombinations AT zhaochunli strapdownscullingvelocityalgorithmsusingnovelinputcombinations AT feixie strapdownscullingvelocityalgorithmsusingnovelinputcombinations AT kaifeng strapdownscullingvelocityalgorithmsusingnovelinputcombinations |
_version_ |
1725111700768686080 |