An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS)
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 ba...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2016-04-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/16/5/621 |
| _version_ | 1811305517674397696 |
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| author | Meng Liu Yanbin Gao Guangchun Li Xingxing Guang Shutong Li |
| author_facet | Meng Liu Yanbin Gao Guangchun Li Xingxing Guang Shutong Li |
| author_sort | Meng Liu |
| collection | DOAJ |
| description | 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 errors on the heading by decoupling. Compared with the traditional local-level mechanization, it has more advantages. The proposed algorithm requires lower coarse alignment accuracy in both the open-loop and closed-loop KFs and hence can improve the system reliability and decrease the total alignment time. Moreover, for the closed-loop KF, it can decrease oscillation caused by the system errors and improve the closed-loop system stability. In addition, the proposed algorithm can also be applied to polar alignment. The performance of the proposed algorithm is verified by both simulations and experiments and the results exhibit the superior performance of the proposed approach. |
| first_indexed | 2024-04-13T08:27:50Z |
| format | Article |
| id | doaj.art-4ceac28a522f4c57b7dbd74d7f53d4ab |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T08:27:50Z |
| publishDate | 2016-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-4ceac28a522f4c57b7dbd74d7f53d4ab2022-12-22T02:54:23ZengMDPI AGSensors1424-82202016-04-0116562110.3390/s16050621s16050621An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS)Meng Liu0Yanbin Gao1Guangchun Li2Xingxing Guang3Shutong Li4College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaIn 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 errors on the heading by decoupling. Compared with the traditional local-level mechanization, it has more advantages. The proposed algorithm requires lower coarse alignment accuracy in both the open-loop and closed-loop KFs and hence can improve the system reliability and decrease the total alignment time. Moreover, for the closed-loop KF, it can decrease oscillation caused by the system errors and improve the closed-loop system stability. In addition, the proposed algorithm can also be applied to polar alignment. The performance of the proposed algorithm is verified by both simulations and experiments and the results exhibit the superior performance of the proposed approach.http://www.mdpi.com/1424-8220/16/5/621polar alignmentpseudo-framedecouplingKalman filter |
| spellingShingle | Meng Liu Yanbin Gao Guangchun Li Xingxing Guang Shutong Li An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS) Sensors polar alignment pseudo-frame decoupling Kalman filter |
| title | An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS) |
| title_full | An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS) |
| title_fullStr | An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS) |
| title_full_unstemmed | An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS) |
| title_short | An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS) |
| title_sort | improved alignment method for the strapdown inertial navigation system sins |
| topic | polar alignment pseudo-frame decoupling Kalman filter |
| url | http://www.mdpi.com/1424-8220/16/5/621 |
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