Multistage Attitude Determination Alignment for Velocity-Aided In-Motion Strapdown Inertial Navigation System with Different Velocity Models
A novel multistage attitude determination alignment algorithm with different velocity models is proposed to implement the alignment process of in-motion attitude determination alignment (IMADA) aided by the ground velocity expressed in body frame (<inline-formula> <math display="inline...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-02-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/3/665 |
| _version_ | 1798042266025066496 |
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| author | Shutong Li Yanbin Gao Meng Liu |
| author_facet | Shutong Li Yanbin Gao Meng Liu |
| author_sort | Shutong Li |
| collection | DOAJ |
| description | A novel multistage attitude determination alignment algorithm with different velocity models is proposed to implement the alignment process of in-motion attitude determination alignment (IMADA) aided by the ground velocity expressed in body frame (<inline-formula> <math display="inline"> <semantics> <mrow> <msup> <mi>V</mi> <mi>b</mi> </msup> </mrow> </semantics> </math> </inline-formula>) in this paper. Normally, The <inline-formula> <math display="inline"> <semantics> <mrow> <msup> <mi>V</mi> <mi>b</mi> </msup> </mrow> </semantics> </math> </inline-formula>-based IMADA is used to achieve the coarse alignment for strapdown inertial navigation system (SINS). The higher the coarse alignment accuracy, the better initial condition can be achieved to guarantee the performance of the subsequent fine alignment. Consider the influence of the principal model errors and the calculation errors on the alignment accuracy in traditional <inline-formula> <math display="inline"> <semantics> <mrow> <msup> <mi>V</mi> <mi>b</mi> </msup> </mrow> </semantics> </math> </inline-formula>-based IMADA, this paper deals with a novel alignment algorithm by integrating two different velocity-based IMADAs and the multiple repeated alignment processes. The power of this novel alignment algorithm lies in eliminating the principal model errors and decreasing the calculation errors. Then, the higher alignment accuracy is achieved. Simulations and vehicle experiment are performed to demonstrate the validity of the proposed algorithm. |
| first_indexed | 2024-04-11T22:33:06Z |
| format | Article |
| id | doaj.art-929d3fb9fc5b4d0a935fdbe5e4316e5e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T22:33:06Z |
| publishDate | 2019-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-929d3fb9fc5b4d0a935fdbe5e4316e5e2022-12-22T03:59:18ZengMDPI AGSensors1424-82202019-02-0119366510.3390/s19030665s19030665Multistage Attitude Determination Alignment for Velocity-Aided In-Motion Strapdown Inertial Navigation System with Different Velocity ModelsShutong Li0Yanbin Gao1Meng Liu2College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaA novel multistage attitude determination alignment algorithm with different velocity models is proposed to implement the alignment process of in-motion attitude determination alignment (IMADA) aided by the ground velocity expressed in body frame (<inline-formula> <math display="inline"> <semantics> <mrow> <msup> <mi>V</mi> <mi>b</mi> </msup> </mrow> </semantics> </math> </inline-formula>) in this paper. Normally, The <inline-formula> <math display="inline"> <semantics> <mrow> <msup> <mi>V</mi> <mi>b</mi> </msup> </mrow> </semantics> </math> </inline-formula>-based IMADA is used to achieve the coarse alignment for strapdown inertial navigation system (SINS). The higher the coarse alignment accuracy, the better initial condition can be achieved to guarantee the performance of the subsequent fine alignment. Consider the influence of the principal model errors and the calculation errors on the alignment accuracy in traditional <inline-formula> <math display="inline"> <semantics> <mrow> <msup> <mi>V</mi> <mi>b</mi> </msup> </mrow> </semantics> </math> </inline-formula>-based IMADA, this paper deals with a novel alignment algorithm by integrating two different velocity-based IMADAs and the multiple repeated alignment processes. The power of this novel alignment algorithm lies in eliminating the principal model errors and decreasing the calculation errors. Then, the higher alignment accuracy is achieved. Simulations and vehicle experiment are performed to demonstrate the validity of the proposed algorithm.https://www.mdpi.com/1424-8220/19/3/665inertial navigation systeminitial alignmentin-motion alignmentattitude determination-based initial alignment (ADIA) |
| spellingShingle | Shutong Li Yanbin Gao Meng Liu Multistage Attitude Determination Alignment for Velocity-Aided In-Motion Strapdown Inertial Navigation System with Different Velocity Models Sensors inertial navigation system initial alignment in-motion alignment attitude determination-based initial alignment (ADIA) |
| title | Multistage Attitude Determination Alignment for Velocity-Aided In-Motion Strapdown Inertial Navigation System with Different Velocity Models |
| title_full | Multistage Attitude Determination Alignment for Velocity-Aided In-Motion Strapdown Inertial Navigation System with Different Velocity Models |
| title_fullStr | Multistage Attitude Determination Alignment for Velocity-Aided In-Motion Strapdown Inertial Navigation System with Different Velocity Models |
| title_full_unstemmed | Multistage Attitude Determination Alignment for Velocity-Aided In-Motion Strapdown Inertial Navigation System with Different Velocity Models |
| title_short | Multistage Attitude Determination Alignment for Velocity-Aided In-Motion Strapdown Inertial Navigation System with Different Velocity Models |
| title_sort | multistage attitude determination alignment for velocity aided in motion strapdown inertial navigation system with different velocity models |
| topic | inertial navigation system initial alignment in-motion alignment attitude determination-based initial alignment (ADIA) |
| url | https://www.mdpi.com/1424-8220/19/3/665 |
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