In-Motion Initial Alignment Method for LDV-Aided SINS Based on Robust Unscented Quaternion Filter

2021 ◽  
Author(s):  
Zhiyi Xiang ◽  
Qi Wang ◽  
Jian Zhou
Keyword(s):  
Alignment Method ◽  
Initial Alignment

scholarly journals Research on initial alignment method of vehicle-mounted SINS based on reverse navigation

2021 ◽  
Vol 1846 (1) ◽  
pp. 012075
Author(s):  
Chen Yang ◽  
Yuanwen Cai ◽  
Chaojun Xin ◽  
Meiling Shi
Keyword(s):  
Alignment Method ◽  
Initial Alignment

An Improved Initial Alignment Method of Strap-Down Inertial Navigation System on a Swaying Base

2013 ◽  
Vol 415 ◽  
pp. 143-148
Author(s):  
Li Hua Zhu ◽  
Xiang Hong Cheng
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Alignment Algorithm ◽  
Alignment Method ◽  
Initial Alignment ◽  
Vehicle Simulation ◽  
Robust Property ◽  
Simulation Results ◽  
Lever Arm Effect ◽  
The Impact

The design of an improved alignment method of SINS on a swaying base is presented in this paper. FIR filter is taken to decrease the impact caused by the lever arm effect. And the system also encompasses the online estimation of gyroscopes’ drift with Kalman filter in order to do the compensation, and the inertial freezing alignment algorithm which helps to resolve the attitude matrix with respect to its fast and robust property to provide the mathematical platform for the vehicle. Simulation results show that the proposed method is efficient for the initial alignment of the swaying base navigation system.

scholarly journals Moving State Marine SINS Initial Alignment Based on High Degree CKF

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Yong-Gang Zhang ◽  
Yu-Long Huang ◽  
Zhe-Min Wu ◽  
Ning Li
Keyword(s):  
Kalman Filter ◽  
Unscented Kalman Filter ◽  
Alignment Method ◽  
Misalignment Angle ◽  
Initial Alignment ◽  
Central Difference ◽  
Angle Condition ◽  
Cubature Kalman Filter ◽  
High Degree ◽  
Central Difference Kalman Filter

A new moving state marine initial alignment method of strap-down inertial navigation system (SINS) is proposed based on high-degree cubature Kalman filter (CKF), which can capture higher order Taylor expansion terms of nonlinear alignment model than the existing third-degree CKF, unscented Kalman filter and central difference Kalman filter, and improve the accuracy of initial alignment under large heading misalignment angle condition. Simulation results show the efficiency and advantage of the proposed initial alignment method as compared with existing initial alignment methods for the moving state SINS initial alignment with large heading misalignment angle.

scholarly journals A Rapid Transfer Alignment Method for SINS Based on the Added Backward-Forward SINS Resolution and Data Fusion

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Xixiang Liu ◽  
Xiaosu Xu ◽  
Yiting Liu ◽  
Lihui Wang
Keyword(s):  
Data Fusion ◽  
Reference Data ◽  
Inertial Sensor ◽  
Sensor Data ◽  
Alignment Method ◽  
Initial Alignment ◽  
Transfer Alignment ◽  
Gyro Bias ◽  
Sensor Errors ◽  
Rapid Transfer

Two viewpoints are given: (1) initial alignment of strapdown inertial navigation system (SINS) can be fulfilled with a set of inertial sensor data; (2) estimation time for sensor errors can be shortened by repeated data fusion on the added backward-forward SINS resolution results and the external reference data. Based on the above viewpoints, aiming to estimate gyro bias in a shortened time, a rapid transfer alignment method, without any changes for Kalman filter, is introduced. In this method, inertial sensor data and reference data in one reference data update cycle are stored, and one backward and one forward SINS resolutions are executed. Meanwhile, data fusion is executed when the corresponding resolution ends. With the added backward-forward SINS resolution, in the above mentioned update cycle, the estimating operations for gyro bias are added twice, and the estimation time for it is shortened. In the ship swinging condition, with the “velocity plus yaw” matching, the effectiveness of this method is proved by the simulation.

Anti-Disturbance Initial Alignment Method Based on Quadratic Integral for Airborne Distributed POS

2018 ◽  
Vol 18 (11) ◽  
pp. 4536-4543 ◽  
Author(s):  
Jianli Li ◽  
Yun Wang ◽  
Yiqi Li ◽  
Jiancheng Fang
Keyword(s):  
Alignment Method ◽  
Initial Alignment ◽  
Quadratic Integral

A two-position SINS initial alignment method based on gyro information

2014 ◽  
Vol 53 (11) ◽  
pp. 1657-1663 ◽  
Author(s):  
J. Xiong ◽  
H. Guo ◽  
Z.H. Yang
Keyword(s):  
Alignment Method ◽  
Initial Alignment

Attitude algorithm and initial alignment method for SINS applied in short-range aircraft

2017 ◽  
Vol 31 (19-21) ◽  
pp. 1740081 ◽  
Author(s):  
Rong-Hui Zhang ◽  
Zhao-Cheng He ◽  
Feng You ◽  
Bo Chen
Keyword(s):  
Digital Signal Processor ◽  
Short Range ◽  
Digital Signal ◽  
Flight Test ◽  
Micro Electro Mechanical System ◽  
Flight Simulation ◽  
Engineering Practice ◽  
Alignment Method ◽  
Initial Alignment ◽  
Simulation Test

This paper presents an attitude solution algorithm based on the Micro-Electro-Mechanical System and quaternion method. We completed the numerical calculation and engineering practice by adopting fourth-order Runge–Kutta algorithm in the digital signal processor. The state space mathematical model of initial alignment in static base was established, and the initial alignment method based on Kalman filter was proposed. Based on the hardware in the loop simulation platform, the short-range flight simulation test and the actual flight test were carried out. The results show that the error of pitch, yaw and roll angle is fast convergent, and the fitting rate between flight simulation and flight test is more than 85%.

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