In-Motion Initial Alignment for Odometer-Aided Strapdown Inertial Navigation System Based on Attitude Estimation
In-Motion Initial Alignment for Odometer-Aided Strapdown Inertial Navigation System Based on Attitude Estimation
复制标题
基于姿态估计的里程表辅助捷联惯性导航系统运动初始对准
DOI：
10.1109/jsen.2016.2633428
复制
发表时间：
2017-02-01
影响因子：
4.3
通讯作者：
Qin, Fangjun
中科院分区：
文献类型：
--
作者：
Chang, Lubin;He, Hongyang;Qin, Fangjun
研究了里程计辅助捷联惯导系统的运动初始对准问题，重点研究了里程计固有的严重干扰的处理方法。通过巧妙的姿态矩阵分解和速率方程重构，提出了一种基于姿态估计的对准方法。基于姿态估计的方法可以在一定程度上衰减里程表中的干扰，并且可以避免一些额外的近似。然而，里程表中的严重干扰不能由姿态估计结构充分处理。在这方面，一个低通有限脉冲响应数字滤波器被用来初步衰减在里程表中的干扰。实验结果验证了所提出的对准方法的有效性和基于姿态估计的方法相对于基于姿态确定的方法的优越性。
This paper investigates the in-motion initial alignment for odometer-aided strapdown inertial navigation system with main focus on handling the severe disturbance inherent in the odometer. An attitude estimation-based alignment method is proposed through ingeniously attitude matrix decomposition and velocity rate equation reconstruction. The attitude estimation-based method can attenuate the disturbance in the odometer to a certain extent and can avoid some additional approximations. However, the severe disturbance in the odometer cannot be handled adequately by the attitude estimation structure. In this respect, a low- pass finite impulse response digital filter is used to attenuate the disturbance in the odometer preliminarily. Experimental results are reported to validate the effectiveness of the proposed alignment methods and the superiority of attitude estimation-based method over attitude determination-based method.