Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle
The conventional initial alignment algorithms are invalid in the polar region. This is caused by the rapid convergence of the Earth meridians in the high-latitude areas. However, the initial alignment algorithms are important for the accurate navigation of Unmanned Underwater Vehicles. The polar tra...
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| Format: | Article |
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MDPI AG
2018-09-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/18/10/3231 |
| _version_ | 1798034041855803392 |
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| author | Zheping Yan Lu Wang Tongda Wang Honghan Zhang Zewen Yang |
| author_facet | Zheping Yan Lu Wang Tongda Wang Honghan Zhang Zewen Yang |
| author_sort | Zheping Yan |
| collection | DOAJ |
| description | The conventional initial alignment algorithms are invalid in the polar region. This is caused by the rapid convergence of the Earth meridians in the high-latitude areas. However, the initial alignment algorithms are important for the accurate navigation of Unmanned Underwater Vehicles. The polar transversal initial alignment algorithm is proposed to overcome this problem. In the polar transversal initial alignment algorithm, the transversal geographic frame is chosen as the navigation frame. The polar region in the conventional frames is equivalent to the equatorial region in the transversal frames. Therefore, the polar transversal initial can be effectively applied in the polar region. According to the complex environment in the polar region, a large misalignment angle is considered in this paper. Based on the large misalignment angle condition, the non-linear dynamics models are established. In addition, the simplified unscented Kalman filter (UKF) is chosen to realize the data fusion. Two comparison simulations and an experiment are performed to verify the performance of the proposed algorithm. The simulation and experiment results indicate the validity of the proposed algorithm, especially when large misalignment angles occur. |
| first_indexed | 2024-04-11T20:38:43Z |
| format | Article |
| id | doaj.art-401ffefb6d544e5fa66dea9bd11cbf2d |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T20:38:43Z |
| publishDate | 2018-09-01 |
| publisher | MDPI AG |
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| series | Sensors |
| spelling | doaj.art-401ffefb6d544e5fa66dea9bd11cbf2d2022-12-22T04:04:18ZengMDPI AGSensors1424-82202018-09-011810323110.3390/s18103231s18103231Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment AngleZheping Yan0Lu Wang1Tongda Wang2Honghan Zhang3Zewen Yang4College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaBeijing Mechanical & Electrical Overall Design Department, The Fourth Academy of China Aerospace Science & Industry Corporation (CASIC), Beijing 100854, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaThe conventional initial alignment algorithms are invalid in the polar region. This is caused by the rapid convergence of the Earth meridians in the high-latitude areas. However, the initial alignment algorithms are important for the accurate navigation of Unmanned Underwater Vehicles. The polar transversal initial alignment algorithm is proposed to overcome this problem. In the polar transversal initial alignment algorithm, the transversal geographic frame is chosen as the navigation frame. The polar region in the conventional frames is equivalent to the equatorial region in the transversal frames. Therefore, the polar transversal initial can be effectively applied in the polar region. According to the complex environment in the polar region, a large misalignment angle is considered in this paper. Based on the large misalignment angle condition, the non-linear dynamics models are established. In addition, the simplified unscented Kalman filter (UKF) is chosen to realize the data fusion. Two comparison simulations and an experiment are performed to verify the performance of the proposed algorithm. The simulation and experiment results indicate the validity of the proposed algorithm, especially when large misalignment angles occur.http://www.mdpi.com/1424-8220/18/10/3231Strapdown Inertial Navigation Systempolar transversal navigationinitial alignment algorithmlarge misalignment anglesimplified unscented Kalman filter |
| spellingShingle | Zheping Yan Lu Wang Tongda Wang Honghan Zhang Zewen Yang Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle Sensors Strapdown Inertial Navigation System polar transversal navigation initial alignment algorithm large misalignment angle simplified unscented Kalman filter |
| title | Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
| title_full | Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
| title_fullStr | Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
| title_full_unstemmed | Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
| title_short | Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
| title_sort | polar transversal initial alignment algorithm for uuv with a large misalignment angle |
| topic | Strapdown Inertial Navigation System polar transversal navigation initial alignment algorithm large misalignment angle simplified unscented Kalman filter |
| url | http://www.mdpi.com/1424-8220/18/10/3231 |
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