A New Fast In-Motion Coarse Alignment Method for GPS-Aided Low-Cost SINS
A New Fast In-Motion Coarse Alignment Method for GPS-Aided Low-Cost SINS
复制标题
一种用于 GPS 辅助低成本捷联惯导系统的新型快速运动粗对准方法
DOI：
10.1109/tmech.2018.2835486
复制
发表时间：
2018-06-01
影响因子：
6.4
通讯作者：
Chang, Lubin
中科院分区：
文献类型：
--
作者：
Huang, Yulong;Zhang, Yonggang;Chang, Lubin
针对低成本捷联惯导系统在全球定位系统（GPS）辅助下的运动粗对准问题，提出了一种新的快速对准方法。与现有的基于动态姿态估计的初始对准方法相比，该方法能够快速估计出从初始体坐标系到初始导航坐标系的恒定姿态矩阵，提高了对准速度。利用动态姿态估计技术，在新建立的状态空间模型基础上，联合估计当前体坐标系到初始体坐标系的时变姿态矩阵和陀螺偏差，并将估计结果和闭环计算用于矢量观测值的构造，提高了粗对准精度。实验结果表明，该方法具有更快的对准速度和更好的对准精度比现有的国家的最先进的GPS辅助低成本的定位方法。
In this paper, a new fast in-motion coarse alignment method is proposed for a low-cost strap-down inertial navigation system (SINS) aided by the global positioning system (GPS). As compared with existing dynamic attitude estimation based initial alignment methods, in the proposed method, the constant attitude matrix from initial body frame to initial navigation frame is rapidly estimated, which results in improved alignment speed. Moreover, the time-varying attitude matrix from current body frame to initial body frame and gyroscope bias are jointly estimated based on a new constructed state-space model using the dynamic attitude estimation technique, and the resultant estimate and closed-loop calculation are utilized in the construction of vector observations, which improves the accuracy of coarse alignment. Experimental results illustrate that the proposed method has faster alignment speed and better alignment accuracy than existing state-of-the-art methods for GPS-aided low-cost SINS.