Research on initial alignment of vehicle strapdown inertial navigation system
نویسندگان
چکیده
منابع مشابه
Research on Initial Alignment and Self-Calibration of Rotary Strapdown Inertial Navigation Systems
The errors of inertial sensors affect the navigation accuracy of the strapdown inertial navigation system (SINS) and are accumulated over time in nature. In order to continuously maintain the high navigation accuracy of vehicles for a long time period, an initial alignment and self-calibration is necessary after the SINS starts. Additionally, the observability analysis is one of the key techniq...
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In this paper, a new alignment algorithm that uses simultaneously both open-loop and closedloop scheme is designed to increase the convergence rate of the Kalman filter in the fine alignment stage. Generally, the initial alignment is divided into coarse and fine alignment. The fine alignment stage with the 10-state Kalman filter refines the initial estimate of the transformation matrix given by...
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As a typical navigation system, the strapdown inertial navigation system (SINS) is crucial for autonomous underwater vehicles (AUVs) since the SINS accuracy determines the performance of AUVs. Initial alignment is one of the key technologies in SINS, and initial alignment time and initial alignment accuracy affect the performance of SINS directly. As actual systems are nonlinear, the nonlinear ...
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In view of the fact the accuracy of the third-degree Cubature Kalman Filter (CKF) used for initial alignment under large misalignment angle conditions is insufficient, an improved fifth-degree CKF algorithm is proposed in this paper. In order to make full use of the innovation on filtering, the innovation covariance matrix is calculated recursively by an innovative sequence with an exponent fad...
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In this paper, an innovative inertial navigation system (INS) mechanization and the associated Kalman filter (KF) are developed to implement a fine alignment for the strapdown INS (SINS) on stationary base. The improved mechanization is established in the pseudo-geographic frame, which is rebuilt based on the initial position. The new mechanization eliminates the effects of linear movement erro...
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ژورنال
عنوان ژورنال: The Journal of Engineering
سال: 2018
ISSN: 2051-3305,2051-3305
DOI: 10.1049/joe.2018.8323