An improved initial alignment method for slave IMU of ADPOS under disturbance condition

Abstract

The airborne distributed position and orientation system(ADPOS) is playing an important role in the ultra-high resolution aerial survey and remote sensing system, and can accurately provide time-spatial reference information for various imaging sensors. However, the slave inertial measurement unit(IMU) of ADPOS suffers the violent disturbance, which leads to serious initial alignment errors. To solve the problem, an improved initial alignment method is proposed, in which the adaptive forward linear prediction (AFLP) filter is adopted to suppress the random disturbance and the inertial frame based alignment algorithm is utilized to adapt the rocking condition. The flight experiment is carried out and validates the proposed method.