An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design Method
An improved coarse alignment (ICA) algorithm is proposed in this paper with a focus on improving alignment accuracy of odometer-aided strapdown inertial navigation system (SINS) under variable velocity and variable acceleration condition. In the proposed algorithm, the outputs of inertial sensors an...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-01-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/18/1/195 |
| _version_ | 1798035011607199744 |
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| author | Yonggang Zhang Li Luo Tao Fang Ning Li Guoqing Wang |
| author_facet | Yonggang Zhang Li Luo Tao Fang Ning Li Guoqing Wang |
| author_sort | Yonggang Zhang |
| collection | DOAJ |
| description | An improved coarse alignment (ICA) algorithm is proposed in this paper with a focus on improving alignment accuracy of odometer-aided strapdown inertial navigation system (SINS) under variable velocity and variable acceleration condition. In the proposed algorithm, the outputs of inertial sensors and odometer in a sampling interval are linearized rather than assumed to be a constant, which improves the accuracy of the vector observations and the precision of coarse alignment. Simulation and field test results illustrate that, under variable velocity and variable acceleration condition, the proposed algorithm can obtain a better alignment performance than conventional coarse alignment method. |
| first_indexed | 2024-04-11T20:52:11Z |
| format | Article |
| id | doaj.art-bba9ee5741f24b97ba5a1920af7b0b02 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T20:52:11Z |
| publishDate | 2018-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-bba9ee5741f24b97ba5a1920af7b0b022022-12-22T04:03:49ZengMDPI AGSensors1424-82202018-01-0118119510.3390/s18010195s18010195An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design MethodYonggang Zhang0Li Luo1Tao Fang2Ning Li3Guoqing Wang4College 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, ChinaAn improved coarse alignment (ICA) algorithm is proposed in this paper with a focus on improving alignment accuracy of odometer-aided strapdown inertial navigation system (SINS) under variable velocity and variable acceleration condition. In the proposed algorithm, the outputs of inertial sensors and odometer in a sampling interval are linearized rather than assumed to be a constant, which improves the accuracy of the vector observations and the precision of coarse alignment. Simulation and field test results illustrate that, under variable velocity and variable acceleration condition, the proposed algorithm can obtain a better alignment performance than conventional coarse alignment method.http://www.mdpi.com/1424-8220/18/1/195odometer-aided SINSlinear approximationcoarse alignmentoptimized alignment |
| spellingShingle | Yonggang Zhang Li Luo Tao Fang Ning Li Guoqing Wang An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design Method Sensors odometer-aided SINS linear approximation coarse alignment optimized alignment |
| title | An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design Method |
| title_full | An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design Method |
| title_fullStr | An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design Method |
| title_full_unstemmed | An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design Method |
| title_short | An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design Method |
| title_sort | improved coarse alignment algorithm for odometer aided sins based on the optimization design method |
| topic | odometer-aided SINS linear approximation coarse alignment optimized alignment |
| url | http://www.mdpi.com/1424-8220/18/1/195 |
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