Abstract
An improved coarse alignment (ICA) algorithm is proposed in this paper with a focus on improving alignment accuracy of odometer-aided strapdown inertial navigation system (SINS) under variable velocity and variable acceleration condition. In the proposed algorithm, the outputs of inertial sensors and odometer in a sampling interval are linearized rather than assumed to be a constant, which improves the accuracy of the vector observations and the precision of coarse alignment. Simulation and field test results illustrate that, under variable velocity and variable acceleration condition, the proposed algorithm can obtain a better alignment performance than conventional coarse alignment method.
Highlights
Strapdown inertial navigation system (SINS) can autonomously, continuously and comprehensively provide the position, velocity, and attitude of the carrier [1,2,3,4]
The performance of SINS depends on the accuracy and rapidity of the initial alignment process, which can be divided into coarse alignment and fine alignment [5,6]
In order to verify the validity of the proposed improved coarse alignment (ICA) algorithm in practice, we carried out a field test to verify the performance of the ICA algorithm
Summary
Strapdown inertial navigation system (SINS) can autonomously, continuously and comprehensively provide the position, velocity, and attitude of the carrier [1,2,3,4]. The performance of SINS depends on the accuracy and rapidity of the initial alignment process, which can be divided into coarse alignment and fine alignment [5,6]. Coarse alignment is important since it provides a rapidly alignment result for the fine alignment. The existing algorithms of the coarse alignment mainly include: analytic coarse alignment [7,8,9], inertial frame coarse alignment (IFCA) [10,11], and coarse alignment based on Davenport’s q method [12,13,14,15,16]. The analytic coarse alignment can only be used on static base. In order to solve moving base coarse alignment problem, some IFCA algorithms have been proposed
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