External Velocity Aided Coarse Attitude and Position Alignment for Dynamic SINS
This paper concerns about the dynamic alignment for the strapdown inertial navigation system (SINS), especially in the case of no GPS assistance. A novel coarse alignment algorithm using external reference velocity in b-frame is proposed. To get the observation vectors of the optimization-based atti...
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doaj-ae6333a06ae8497b9b1eb62e260891b42021-03-29T20:39:35ZengIEEEIEEE Access2169-35362018-01-016150991510510.1109/ACCESS.2018.28128608307065External Velocity Aided Coarse Attitude and Position Alignment for Dynamic SINSShiluo Guo0https://orcid.org/0000-0001-6419-7998Jiangning Xu1Hongyang He2Department of navigation engineering, PLA Naval University of Engineering, Wuhan, ChinaDepartment of navigation engineering, PLA Naval University of Engineering, Wuhan, ChinaDepartment of navigation engineering, PLA Naval University of Engineering, Wuhan, ChinaThis paper concerns about the dynamic alignment for the strapdown inertial navigation system (SINS), especially in the case of no GPS assistance. A novel coarse alignment algorithm using external reference velocity in b-frame is proposed. To get the observation vectors of the optimization-based attitude alignment method, the velocity algorithm of SINS is derived in the inertial coordinate frame, so the Coriolis Effect can be excluded. Meanwhile, the real-time position of the SINS is approximately located, and the deviation of the gravity vector caused by the vehicle's displacement can be compensated, which further improves the alignment accuracy. Experimental results show that the proposed algorithm performs better than the existing algorithm and it can provide ideal initial conditions for the fine alignment.https://ieeexplore.ieee.org/document/8307065/Inertial navigationattitude controlposition measurementestimation theory |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Shiluo Guo Jiangning Xu Hongyang He |
spellingShingle |
Shiluo Guo Jiangning Xu Hongyang He External Velocity Aided Coarse Attitude and Position Alignment for Dynamic SINS IEEE Access Inertial navigation attitude control position measurement estimation theory |
author_facet |
Shiluo Guo Jiangning Xu Hongyang He |
author_sort |
Shiluo Guo |
title |
External Velocity Aided Coarse Attitude and Position Alignment for Dynamic SINS |
title_short |
External Velocity Aided Coarse Attitude and Position Alignment for Dynamic SINS |
title_full |
External Velocity Aided Coarse Attitude and Position Alignment for Dynamic SINS |
title_fullStr |
External Velocity Aided Coarse Attitude and Position Alignment for Dynamic SINS |
title_full_unstemmed |
External Velocity Aided Coarse Attitude and Position Alignment for Dynamic SINS |
title_sort |
external velocity aided coarse attitude and position alignment for dynamic sins |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2018-01-01 |
description |
This paper concerns about the dynamic alignment for the strapdown inertial navigation system (SINS), especially in the case of no GPS assistance. A novel coarse alignment algorithm using external reference velocity in b-frame is proposed. To get the observation vectors of the optimization-based attitude alignment method, the velocity algorithm of SINS is derived in the inertial coordinate frame, so the Coriolis Effect can be excluded. Meanwhile, the real-time position of the SINS is approximately located, and the deviation of the gravity vector caused by the vehicle's displacement can be compensated, which further improves the alignment accuracy. Experimental results show that the proposed algorithm performs better than the existing algorithm and it can provide ideal initial conditions for the fine alignment. |
topic |
Inertial navigation attitude control position measurement estimation theory |
url |
https://ieeexplore.ieee.org/document/8307065/ |
work_keys_str_mv |
AT shiluoguo externalvelocityaidedcoarseattitudeandpositionalignmentfordynamicsins AT jiangningxu externalvelocityaidedcoarseattitudeandpositionalignmentfordynamicsins AT hongyanghe externalvelocityaidedcoarseattitudeandpositionalignmentfordynamicsins |
_version_ |
1724194388631879680 |