Initial Alignment of SINS in the Measurement System of Pipeline Position Based on SUKF

2014 ◽  
Vol 568-570 ◽  
pp. 464-467 ◽  
Author(s):  
Hui Li ◽  
Peng Jin
Keyword(s):  
Steady State ◽  
Measurement System ◽  
Reference Point ◽  
Fault Location ◽  
Alignment Algorithm ◽  
Initial Alignment ◽  
Practical Applications ◽  
Attitude Angle ◽  
Geometry Measurement ◽  
Periodical Change

Aiming at the large dimensions of state vector and attitude angle periodical change of SINS in initial alignment, The alignment algorithm was presented in initial alignment of pipeline inspect gauge system (PIGs) for pipeline fault location and geometry measurement. The state and observation equation with the attitude angle, the position of the reference point and the velocity as observed vectors is established. Combined with the UKF algorithm, variable scale UKF algorithm (SUKF) is proposed to realize the initial alignment during the pipelines detector working. Comparing with UKF, experiment results showed that the steady-state misalignment of pitch, yaw and roll were 17.5’, 6’and 5’. The results indicate that the proposed algorithm is effective for practical applications.

A Novel Initial Alignment Based on the HMM/Steady State KALMAN Filter

2013 ◽  
Vol 562-565 ◽  
pp. 426-430
Author(s):  
Xing Ma ◽  
Lun Chao Zhong ◽  
Jun Li Han ◽  
Chang Shun Liu
Keyword(s):  
Kalman Filter ◽  
Steady State ◽  
Alignment Algorithm ◽  
Acceleration Sensor ◽  
Initial Alignment ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Acceleration Data ◽  
Low Pass ◽  
Poor Stability

In allusion to low accurary and poor stability of the initial alginment based on the acceleration sensor, the HMM (Hidden Marco Model) / steady state Kalman filter is designed to solve the problem above. C8051F340 is used to sample the acceleration data of the MEMS acceleration sensor Model1221, then the digital low-pass filter is used to filter the acceleration data. The steady state Kalman filter based on the second order HMM model. The initial alignment algorithm outputs the angle value. The experiments demonstrate that the the HMM / steady state Kalman filter is more stable and more precise than the traditional algorithm.

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 Research on an Improved Method for Foot-Mounted Inertial/Magnetometer Pedestrian-Positioning Based on the Adaptive Gradient Descent Algorithm

Sensors ◽  
2018 ◽  
Vol 18 (12) ◽  
pp. 4105 ◽  
Author(s):  
Qiuying Wang ◽  
Juan Yin ◽  
Aboelmagd Noureldin ◽  
Umar Iqbal
Keyword(s):  
Kalman Filter ◽  
Gradient Descent ◽  
Rapid Development ◽  
Alignment Algorithm ◽  
Magnetic Disturbance ◽  
Misalignment Angle ◽  
Initial Alignment ◽  
Positioning Systems ◽  
Descent Algorithm ◽  
Gradient Descent Algorithm

Foot-mounted Inertial Pedestrian-Positioning Systems (FIPPSs) based on Micro Inertial Measurement Units (MIMUs), have recently attracted widespread attention with the rapid development of MIMUs. The can be used in challenging environments such as firefighting and the military, even without augmenting with Global Navigation Satellite System (GNSS). Zero Velocity Update (ZUPT) provides a solution for the accumulated positioning errors produced by the low precision and high noise of the MIMU, however, there are some problems using ZUPT for FIPPS, include fast-initial alignment and unobserved heading misalignment angle, which are addressed in this paper. Our first contribution is proposing a fast-initial alignment algorithm for foot-mounted inertial/magnetometer pedestrian positioning based on the Adaptive Gradient Descent Algorithm (AGDA). Considering the characteristics of gravity and Earth’s magnetic field, measured by accelerometers and magnetometers, respectively, when the pedestrian is standing at one place, the AGDA is introduced as the fast-initial alignment. The AGDA is able to estimate the initial attitude and enhance the ability of magnetic disturbance suppression. Our second contribution in this paper is proposing an inertial/magnetometer positioning algorithm based on an adaptive Kalman filter to solve the problem of the unobserved heading misalignment angle. The algorithm utilizes heading misalignment angle as an observation for the Kalman filter and can improve the accuracy of pedestrian position by compensating for magnetic disturbances. In addition, introducing an adaptive parameter in the Kalman filter is able to compensate the varying magnetic disturbance for each ZUPT instant during the walking phase of the pedestrian. The performance of the proposed method is examined by conducting pedestrian test trajectory using MTi-G710 manufacture by XSENS. The experimental results verify the effectiveness and applicability of the proposed method.

LINS Initial Alignment Algorithm Based on the Attitude Tracking Approach for a Rocking Base

2015 ◽  
Vol 44 (5) ◽  
pp. 512001
Author(s):  
李汉舟 LI Han-zhou ◽  
潘泉 PAN Quan ◽  
王小旭 WANG Xiao-xu ◽  
张娟妮 ZHANG Juan-ni ◽  
邓麟 DENG Lin
Keyword(s):  
Alignment Algorithm ◽  
Initial Alignment ◽  
Attitude Tracking

Fast Compass Alignment Algorithm of FOG SINS under Sway Condition

2013 ◽  
Vol 321-324 ◽  
pp. 2171-2176 ◽  
Author(s):  
Bin Zhou ◽  
Wei Wang
Keyword(s):  
Fiber Optic ◽  
Alignment Algorithm ◽  
Test Results ◽  
Fiber Optic Gyro ◽  
Initial Alignment ◽  
Variable Parameters ◽  
Navigation Algorithm ◽  
Alignment Problem ◽  
Concrete Realization ◽  
Instrument Accuracy

Through research on initial alignment problem of fiber optic gyro SINS in the sway condition, this paper proposed a rapid compass alignment scheme with variable parameters, which can accomplish rapid initial alignment. Firstly, analysted SINS compass alignment principle, and gave a concrete realization method which has the same calculation procedure with full damping navigation algorithm. This method makes the alignment and navigation to use the same set of algorithms, and can effectively reduce algorithm complexity. Simulation and repeatedly sway test results show that the alignment algorithm is effective. The alignment precision and instrument accuracy is consistent, it can meet the requirements of the initial alignment.

Initial Alignment Algorithm Study Based on Rotating Modulation and Kalman Filtering

2014 ◽  
Vol 513-517 ◽  
pp. 585-588 ◽  
Author(s):  
Zhi Wei Zhang ◽  
Hua Dong Sun
Keyword(s):  
Theoretical Analysis ◽  
Test Data ◽  
Kalman Filtering ◽  
Alignment Algorithm ◽  
Environmental Disturbance ◽  
Initial Alignment

Kalman filtering is used to restrain the influence of environmental disturbance to the initial alignment precision. Meanwhile, rotating modulation is utilized to reduce the influence of peg-top excursion and accelerometer zero deflection. The theoretical analysis and test data demonstrate that the proposed algorithm can improve the alignment precision by the combination of the two methods.

Weak Instability of Chen–Ricles Explicit Method for Structural Dynamics

2018 ◽  
Vol 13 (5) ◽  
Author(s):  
Shuenn-Yih Chang
Keyword(s):  
Steady State ◽  
Nonlinear Systems ◽  
High Frequency ◽  
Explicit Method ◽  
Order Accuracy ◽  
Practical Applications ◽  
Correction Scheme ◽  
Highly Nonlinear ◽  
Steady State Responses ◽  
State Responses

Although the Chen–Ricles (CR) explicit method (CRM) (proposed by Chen and Ricles) has been claimed to have desired numerical properties, such as unconditional stability, explicit formulation, and second-order accuracy, it also shows some unusual properties, such as a less accuracy of solving highly nonlinear systems, a high-frequency overshoot in steady-state responses, and a weak instability. A correction scheme by adjusting the displacement difference equation with a loading term can be employed to extinguish the high-frequency overshoot in steady-state responses. However, there is still no way to get rid of the weak instability and to improve the less accuracy of solving highly nonlinear systems. It is recognized that a weak instability might result in inaccurate solutions or numerical explosions. Hence, the practical applications of CRM are strictly limited.

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