Analysis of Gravity Disturbance Compensation for Initial Alignment of INS
To address the accuracy requirements of initial alignment of high-precision inertial navigation systems (INSs), gravity disturbance compensation for INSs based on a spherical harmonic model is investigated herein. First, the horizontal component of gravity disturbance at an alignment point is calcul...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9151136/ |
| _version_ | 1819173333073133568 |
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| author | Shiwen Hao Zhaofa Zhou Zhili Zhang Zhenjun Chang Xianyi Liu |
| author_facet | Shiwen Hao Zhaofa Zhou Zhili Zhang Zhenjun Chang Xianyi Liu |
| author_sort | Shiwen Hao |
| collection | DOAJ |
| description | To address the accuracy requirements of initial alignment of high-precision inertial navigation systems (INSs), gravity disturbance compensation for INSs based on a spherical harmonic model is investigated herein. First, the horizontal component of gravity disturbance at an alignment point is calculated using the high-resolution Earth Gravity Model EIGEN-6C4 and then compensated to the initial alignment. Subsequently, the self-alignment algorithm of solidified coordinate frame is used to derive the misalignment angle equation of gravity disturbance affecting the initial alignment. Meanwhile, the coupling relationship between the measurement error of an inertial unit and the gravity disturbance is simulated and analyzed. Finally, a laser strapdown inertial navigation system experiment is performed. The simulation result shows that the pitch angle, roll angle, and heading angle errors reduced by 27.41", -0.37", and 6.72", respectively, after the gravity disturbance compensation. Experiment result shows that the alignment performance after compensation has been improved and the heading angle error is reduced by 6.76". The simulations and experiments results validate the theoretical analysis. |
| first_indexed | 2024-12-22T20:21:24Z |
| format | Article |
| id | doaj.art-53b54420e8ff49a09ba8afbe0f1b5876 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T20:21:24Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-53b54420e8ff49a09ba8afbe0f1b58762022-12-21T18:13:50ZengIEEEIEEE Access2169-35362020-01-01813781213782410.1109/ACCESS.2020.30124509151136Analysis of Gravity Disturbance Compensation for Initial Alignment of INSShiwen Hao0https://orcid.org/0000-0002-9208-0815Zhaofa Zhou1Zhili Zhang2Zhenjun Chang3Xianyi Liu4Department of Inertial, Xi’an Research Institute of High Technology, Xi’an, ChinaDepartment of Inertial, Xi’an Research Institute of High Technology, Xi’an, ChinaDepartment of Inertial, Xi’an Research Institute of High Technology, Xi’an, ChinaDepartment of Inertial, Xi’an Research Institute of High Technology, Xi’an, ChinaDepartment of Inertial, Xi’an Research Institute of High Technology, Xi’an, ChinaTo address the accuracy requirements of initial alignment of high-precision inertial navigation systems (INSs), gravity disturbance compensation for INSs based on a spherical harmonic model is investigated herein. First, the horizontal component of gravity disturbance at an alignment point is calculated using the high-resolution Earth Gravity Model EIGEN-6C4 and then compensated to the initial alignment. Subsequently, the self-alignment algorithm of solidified coordinate frame is used to derive the misalignment angle equation of gravity disturbance affecting the initial alignment. Meanwhile, the coupling relationship between the measurement error of an inertial unit and the gravity disturbance is simulated and analyzed. Finally, a laser strapdown inertial navigation system experiment is performed. The simulation result shows that the pitch angle, roll angle, and heading angle errors reduced by 27.41", -0.37", and 6.72", respectively, after the gravity disturbance compensation. Experiment result shows that the alignment performance after compensation has been improved and the heading angle error is reduced by 6.76". The simulations and experiments results validate the theoretical analysis.https://ieeexplore.ieee.org/document/9151136/Gravity disturbance compensationinertial navigation systeminitial alignmentspherical harmonic modelKalman filtering |
| spellingShingle | Shiwen Hao Zhaofa Zhou Zhili Zhang Zhenjun Chang Xianyi Liu Analysis of Gravity Disturbance Compensation for Initial Alignment of INS IEEE Access Gravity disturbance compensation inertial navigation system initial alignment spherical harmonic model Kalman filtering |
| title | Analysis of Gravity Disturbance Compensation for Initial Alignment of INS |
| title_full | Analysis of Gravity Disturbance Compensation for Initial Alignment of INS |
| title_fullStr | Analysis of Gravity Disturbance Compensation for Initial Alignment of INS |
| title_full_unstemmed | Analysis of Gravity Disturbance Compensation for Initial Alignment of INS |
| title_short | Analysis of Gravity Disturbance Compensation for Initial Alignment of INS |
| title_sort | analysis of gravity disturbance compensation for initial alignment of ins |
| topic | Gravity disturbance compensation inertial navigation system initial alignment spherical harmonic model Kalman filtering |
| url | https://ieeexplore.ieee.org/document/9151136/ |
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