Abstract
In this study, we investigated a novel method for high-accuracy autonomous alignment of a strapdown inertial navigation system assisted by Doppler radar on a vehicle-borne moving base, which effectively avoids the measurement errors caused by wheel-slip or vehicle-sliding. Using the gyroscopes in a strapdown inertial navigation system and Doppler radar, we calculated the dead reckoning, analyzed the error sources of the dead reckoning system, and established an error model. Then the errors of the strapdown inertial navigation system and dead reckoning system were treated as the states. Besides velocity information, attitude information was cleverly introduced into the alignment measurement to improve alignment accuracy and reduce alignment time. Therefore, the first measurement was the difference between the output attitude and velocity of the strapdown inertial navigation system and the corresponding signals from the dead reckoning system. In order to further improve the alignment accuracy, more measurement information was introduced by using the vehicle motion constraint, that is, the velocity output projection of strapdown inertial navigation system along the transverse and vertical direction of the vehicle body was also used as the second measurement. Then the corresponding state and measurement equations were established, and the Kalman filter algorithm was used for assisted alignment filtering. The simulation results showed that, with a moving base, the misalignment angle estimation accuracy was better than 0.5’ in the east direction, 0.4’ in the north direction, and 3.2’ in the vertical direction.
Highlights
In order for vehicle-borne weapon systems to rapidly respond and maneuver, their inertial navigation systems are generally required to have rapid alignment capabilities
In order to achieve highly accurate and autonomous initial alignment for the vehicle-borne strapdown inertial navigation system under moving-base conditions, we proposed the vehicle-borne strapdown inertial navigation system under moving-base conditions, we proposed the use of a vehicle-borne Doppler radar to assist a strapdown inertial navigation system for moving-base use of a vehicle-borne Doppler radar to assist a strapdown inertial navigation system for movingalignment
The dead reckoning was solved using the gyroscopes of the strapdown inertial navigation base alignment
Summary
In order for vehicle-borne weapon systems to rapidly respond and maneuver, their inertial navigation systems are generally required to have rapid alignment capabilities. In the process of the moving-base alignment, real-time information of the vehicle’s attitude and velocity is obtained by solving for the dead reckoning using the gyroscopes in the strapdown inertial navigation system and the Doppler radar. Velocity information is usually used only as the measurement of alignment on moving base, but there are some problems such as low accuracy in azimuth alignment and long alignment time Since both strapdown inertial navigation system and dead reckoning system can output the velocity and attitude information of the vehicle, Sensors 2019, 19, x FOR PEER REVIEW theaddition vehicle, to in the addition to the velocity information, attitude information is introduced into the in velocity information, the attitudethe information is introduced into the alignment alignment measurement in this paper.the.
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