A Robust Self-Alignment Method for Ship’s Strapdown INS Under Mooring Conditions

A Robust Self-Alignment Method for Ship’s Strapdown INS Under Mooring Conditions

Strapdown inertial navigation systems (INS) need an alignment process to determine the initial attitude matrix between the body frame and the navigation frame. The conventional alignment process is to compute the initial attitude matrix using the gravity and Earth rotational rate measurements. Howev...

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Bibliographic Details
Main Authors: Tong Cao, Guangtao Zhou, Naser El-Sheimy, Chunyang Yu, Haiyu Lan, Feng Sun, Hang Liu
Format: Article
Language:English
Published: MDPI AG 2013-06-01
Series:Sensors
Subjects:
inertial navigation systems (INS)
alignment
mooring condition
inertial measurement unit (IMU)
inertial frame
hidden Markov model
Kalman filter
Online Access:http://www.mdpi.com/1424-8220/13/7/8103

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