In this paper, with the aim of estimating internal dynamics matrix of a gimbaled Inertial Navigation system (as a discrete Linear system), the discretetime Hamilton-Jacobi-Bellman (HJB) equation for optimal control has been extracted. Heuristic Dynamic Programming algorithm (HDP) for solving equation has been presented and then a neural network approximation for cost function and control input ...

Accurate alignment and vertical channel instability play an important role in the strap-down inertial navigation system (SINS), especially in the case that precise navigation has to be achieved over long periods of time. Due to poor initialization as well as the cumulative errors of low-cost inertial measurement units (IMUs), initial alignment is not sufficient to achieve required navigation ac...

Navigation in autonomous vehicles involves integrating measurements from on–board inertial sensors and external data collected by various sensors. In this paper, the computer–frame velocity error model is augmented with a random constant model of accelerometer bias and rategyro drift for use in a Kalman filter–based fusion of a lowcost rotating inertial navigation system (INS) with external pos...

against the range-dependent accuracy of the tracking radar measurements including range, elevation and bearing angles, a new hybrid adaptive kalman filter is proposed to enhance the performance of the radar aided strapdown inertial navigation system (ins/radar). this filter involves the concept of residual-based adaptive estimation and adaptive fading kalman filter and tunes dynamically the fil...

Against the range-dependent accuracy of the tracking radar measurements including range, elevation and bearing angles, a new hybrid adaptive Kalman filter is proposed to enhance the performance of the radar aided strapdown inertial navigation system (INS/Radar). This filter involves the concept of residual-based adaptive estimation and adaptive fading Kalman filter and tunes dynamically the fil...

Due to its highly autonomy, the strapdown inertial navigation system (SINS) is widely used in unmanned underwater vehicles (UUV) navigation. Initial alignment is crucial because the initial alignment results will be used as the initial SINS value, which might affect the subsequent SINS results. Due to the rapid convergence of Earth meridians, there is a calculation overflow in conventional init...

An accurate initial alignment must be required for inertial navigation system (INS). The performance of initial alignment directly affects the following navigation accuracy. However, the rapid convergence of meridians and the small horizontalcomponent of rotation of Earth make the traditional alignment methods ineffective in polar regions. In this paper, from the perspective of global inertial ...