An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-Motion

For a running freely land-vehicle strapdown inertial navigation system (SINS), the problems of self-calibration and attitude alignment need to be solved simultaneously. This paper proposes a complete alignment algorithm for the land vehicle navigation using Inertial Measurement Units (IMUs) and an o...

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Main Authors:	Kang Gao, Shunqing Ren, Xijun Chen, Zhenhuan Wang
Format:	Article
Language:	English
Published:	MDPI AG 2018-06-01
Series:	Sensors
Subjects:	strapdown inertial navigation system (SINS) initial alignment odometer optimized estimate extended Kalman filter (EKF)
Online Access:	http://www.mdpi.com/1424-8220/18/7/2081

id	doaj-f15d01c37a374a8e8186f9edf1138b60
record_format	Article
spelling	doaj-f15d01c37a374a8e8186f9edf1138b602020-11-24T21:34:41ZengMDPI AGSensors1424-82202018-06-01187208110.3390/s18072081s18072081An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-MotionKang Gao0Shunqing Ren1Xijun Chen2Zhenhuan Wang3Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150080, ChinaSpace Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150080, ChinaSpace Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150080, ChinaSpace Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150080, ChinaFor a running freely land-vehicle strapdown inertial navigation system (SINS), the problems of self-calibration and attitude alignment need to be solved simultaneously. This paper proposes a complete alignment algorithm for the land vehicle navigation using Inertial Measurement Units (IMUs) and an odometer. A self-calibration algorithm is proposed based on the global observability analysis to calibrate the odometer scale factor and IMU misalignment angle, and the initial alignment and calibration method based on optimal algorithm is established to estimate the attitude and other system parameters. This new algorithm has the capability of self-initialization and calibration without any prior attitude and sensor noise information. Computer simulation results show that the performance of the proposed algorithm is superior to the extended Kalman filter (EKF) method during the oscillating attitude motions, and the vehicle test validates its advantages.http://www.mdpi.com/1424-8220/18/7/2081strapdown inertial navigation system (SINS)initial alignmentodometeroptimized estimateextended Kalman filter (EKF)
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Kang Gao Shunqing Ren Xijun Chen Zhenhuan Wang
spellingShingle	Kang Gao Shunqing Ren Xijun Chen Zhenhuan Wang An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-Motion Sensors strapdown inertial navigation system (SINS) initial alignment odometer optimized estimate extended Kalman filter (EKF)
author_facet	Kang Gao Shunqing Ren Xijun Chen Zhenhuan Wang
author_sort	Kang Gao
title	An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-Motion
title_short	An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-Motion
title_full	An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-Motion
title_fullStr	An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-Motion
title_full_unstemmed	An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-Motion
title_sort	optimization-based initial alignment and calibration algorithm of land-vehicle sins in-motion
publisher	MDPI AG
series	Sensors
issn	1424-8220
publishDate	2018-06-01
description	For a running freely land-vehicle strapdown inertial navigation system (SINS), the problems of self-calibration and attitude alignment need to be solved simultaneously. This paper proposes a complete alignment algorithm for the land vehicle navigation using Inertial Measurement Units (IMUs) and an odometer. A self-calibration algorithm is proposed based on the global observability analysis to calibrate the odometer scale factor and IMU misalignment angle, and the initial alignment and calibration method based on optimal algorithm is established to estimate the attitude and other system parameters. This new algorithm has the capability of self-initialization and calibration without any prior attitude and sensor noise information. Computer simulation results show that the performance of the proposed algorithm is superior to the extended Kalman filter (EKF) method during the oscillating attitude motions, and the vehicle test validates its advantages.
topic	strapdown inertial navigation system (SINS) initial alignment odometer optimized estimate extended Kalman filter (EKF)
url	http://www.mdpi.com/1424-8220/18/7/2081
work_keys_str_mv	AT kanggao anoptimizationbasedinitialalignmentandcalibrationalgorithmoflandvehiclesinsinmotion AT shunqingren anoptimizationbasedinitialalignmentandcalibrationalgorithmoflandvehiclesinsinmotion AT xijunchen anoptimizationbasedinitialalignmentandcalibrationalgorithmoflandvehiclesinsinmotion AT zhenhuanwang anoptimizationbasedinitialalignmentandcalibrationalgorithmoflandvehiclesinsinmotion AT kanggao optimizationbasedinitialalignmentandcalibrationalgorithmoflandvehiclesinsinmotion AT shunqingren optimizationbasedinitialalignmentandcalibrationalgorithmoflandvehiclesinsinmotion AT xijunchen optimizationbasedinitialalignmentandcalibrationalgorithmoflandvehiclesinsinmotion AT zhenhuanwang optimizationbasedinitialalignmentandcalibrationalgorithmoflandvehiclesinsinmotion
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An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-Motion

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