In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS
In this paper, an improved in-motion coarse alignment method is proposed for a strapdown inertial navigation system (SINS) using position loci obtained from the Global Positioning System (GPS). The difference from the popular coarse alignment methods is that the proposed algorithm uses GPS position...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-07-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/14/7113 |
| _version_ | 1797433890027077632 |
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| author | Haoqian Huang Jiaying Wei |
| author_facet | Haoqian Huang Jiaying Wei |
| author_sort | Haoqian Huang |
| collection | DOAJ |
| description | In this paper, an improved in-motion coarse alignment method is proposed for a strapdown inertial navigation system (SINS) using position loci obtained from the Global Positioning System (GPS). The difference from the popular coarse alignment methods is that the proposed algorithm uses GPS position loci information to form the vector observation, and does not need velocity information, which expands the application range of in-motion coarse alignment. In addition, this paper utilizes the Optimal-REQUEST algorithm to reduce the influence of random errors contained in the vector observation. The Optimal-REQUEST algorithm is an adaptive iterative updating algorithm, which can adaptively adjust the gain of the filter according to the loss function. Simulation results confirmed that the proposed algorithm can suppress the impact of random errors effectively. The pitch, roll and yaw angles calculated by the proposed algorithm were improved by 51.95%, 53.80% and 63.03% compared with the comparison algorithms. |
| first_indexed | 2024-03-09T10:23:20Z |
| format | Article |
| id | doaj.art-95fdbc652ae84b0f8cf04c61aa6df786 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T10:23:20Z |
| publishDate | 2022-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-95fdbc652ae84b0f8cf04c61aa6df7862023-12-01T21:51:39ZengMDPI AGApplied Sciences2076-34172022-07-011214711310.3390/app12147113In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINSHaoqian Huang0Jiaying Wei1College of Energy and Electrical Engineering, Hohai University, Nanjing 211100, ChinaCollege of Energy and Electrical Engineering, Hohai University, Nanjing 211100, ChinaIn this paper, an improved in-motion coarse alignment method is proposed for a strapdown inertial navigation system (SINS) using position loci obtained from the Global Positioning System (GPS). The difference from the popular coarse alignment methods is that the proposed algorithm uses GPS position loci information to form the vector observation, and does not need velocity information, which expands the application range of in-motion coarse alignment. In addition, this paper utilizes the Optimal-REQUEST algorithm to reduce the influence of random errors contained in the vector observation. The Optimal-REQUEST algorithm is an adaptive iterative updating algorithm, which can adaptively adjust the gain of the filter according to the loss function. Simulation results confirmed that the proposed algorithm can suppress the impact of random errors effectively. The pitch, roll and yaw angles calculated by the proposed algorithm were improved by 51.95%, 53.80% and 63.03% compared with the comparison algorithms.https://www.mdpi.com/2076-3417/12/14/7113coarse alignmentstrapdown inertial navigation systemattitude estimationobservation vector |
| spellingShingle | Haoqian Huang Jiaying Wei In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS Applied Sciences coarse alignment strapdown inertial navigation system attitude estimation observation vector |
| title | In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS |
| title_full | In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS |
| title_fullStr | In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS |
| title_full_unstemmed | In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS |
| title_short | In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS |
| title_sort | in motion coarse alignment method based on position loci and optimal request for sins |
| topic | coarse alignment strapdown inertial navigation system attitude estimation observation vector |
| url | https://www.mdpi.com/2076-3417/12/14/7113 |
| work_keys_str_mv | AT haoqianhuang inmotioncoarsealignmentmethodbasedonpositionlociandoptimalrequestforsins AT jiayingwei inmotioncoarsealignmentmethodbasedonpositionlociandoptimalrequestforsins |