A METHOD OF DETERMINING THE INITIAL ATTITUDE ANGLES FOR THE STRAPDOWN INERTIAL NAVIGATION SYSTEM IN GYROCOMPASS MODE ON THE MOTOR VEHICLES
108 viewsKeywords:
Alignment; SINS; IMU; Euler angles; Gyrocompass.Abstract
For the strapdown inertial navigation system, determining the exact angle of the initial attitudes plays an extremely important role, directly affecting the later navigation process of the system. The paper deals with the initial alignment determination algorithm including true NORTH for the SINS on non-moving objects in gyrocompass mode. The algorithm is carried out in two stages: determining the preliminary initial posture and determining the correct initial posture based on the state vectors of the IMU inertial measurement unit. The results obtained proved the accuracy of the algorithm.
References
[1]. H. W. Park, J. G. Lee, and C. G. Park, “Covariance analysis of strapdown INS considering gyrocompass characteristics,” IEEE Transactions on Aerospace and Electronic Systems, vol. 31, no. 1, pp. 320–328, 1995.
[2]. Мелешко, В.В. “Бесплатформенные инерциальные навигационные системы: учебное пособие”/ В.В. Мелешко, О.И. Нестеренко. – Кировоград: Полимед-Сервис, 2011. – 171с.
[3]. Голован А. А., Парусников Н. А. “Математические основы навигационных систем”. М.: Моск. гос. университет, 2010. Т. 1–3.
[4]. Бромберг П. В. “Теория инерциальных систем навигации”/ П. В. Бромберг – М.: Наука, 1980. – 296 с.
[5]. J.G. Proakis, D.G. Manolakis, “Digital Signal Processing: Principles, Algorithms, and Applications”, third ed., Prentice-Hall, Englewood Cliffs, NJ, 1996.
[6]. Shaolin Lu, Ling Xie, Jiabin Chen. “New techniques for initial alignment of strapdown inertial navigation system”. Journal of the Franklin Institute 346 (2009) 1021–1037.
[7]. Liu M, Gao Y, Li G, Guang X, Li S. “An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS)”. Sensors (Basel). 2016;16(5):621. Published 2016 Apr 29. doi:10.3390/s16050621
[8]. Feng Sun, Tong Cao, Bo Xu, Yueyang Ben and Yudan Wang. “Initial Alignment for Strapdown Inertial Navigation System Based on Inertial Frame”. Proceedings of the 2009 IEEE. International Conference on Mechatronics and Automation. August 9-12, Changchun, China.
