Fast two-position initial alignment for SINS using velocity plus angular rate measurements
Fast two-position initial alignment for SINS using velocity plus angular rate measurements
复制标题
使用速度加角速率测量对 SINS 进行快速两位初始对准
DOI：
10.1016/j.asr.2015.07.005
复制
发表时间：
2015-10-01
影响因子：
2.6
通讯作者：
Chang, Guobin
中科院分区：
文献类型：
--
作者：
Chang, Guobin
An improved two-position initial alignment model for strapdown inertial navigation system is proposed. In addition to the velocity, angular rates are incorporated as measurements. The measurement equations in full three channels are derived in both navigation and body frames and the latter of which is found to be preferred. The cross-correlation between the process and the measurement noises is analyzed and addressed in the Kalman filter. The incorporation of the angular rates, without introducing additional device or external signal, speeds up the convergence of estimating the attitudes, especially the heading. In the simulation study, different algorithms are tested with different initial errors, and the advantages of the proposed method compared to the conventional one are validated by the simulation results. (C) 2015 COSPAR. Published by Elsevier Ltd. All rights reserved.
