Abstract
An improved method of gyrocompass alignment for strap-down inertial navigation system (SINS) on moving base assisted with Doppler velocity log (DVL) is proposed in this paper. After analyzing the classical gyrocompass alignment principle on static base, implementation of compass alignment on moving base is given in detail. Furthermore, based on analysis of velocity error, latitude error, and acceleration error on moving base, two improvements are introduced to ensure alignment accuracy and speed: (1) the system parameters are redesigned to decrease the acceleration interference and (2) a data repeated calculation algorithm is used in order to shorten the prolonged alignment time caused by changes in parameters. Simulation and test results indicate that the improved method can realize the alignment on moving base quickly and effectively.
Highlights
Initial alignment is the process of determining the axes orientation of strap-down inertial navigation system (SINS) with respect to the reference navigational frame
Compared with GPS, Doppler velocity log (DVL) is an underwater available, independent, and high accuracy velocity measuring element commonly used on ships, and the research of initial alignment for SINS on moving base assisted with DVL has attracted much more attention [6]
The test was conducted on a high-speed yacht platform equipped with several devices. It consists of an AHRS based on a fiber optical gyro (FOG) produced by our own research center, a high-precise FOG-INS system called PHINS combined with GPS used as a reference system, and a DVL used to assist the AHRS system
Summary
Initial alignment is the process of determining the axes orientation of strap-down inertial navigation system (SINS) with respect to the reference navigational frame. To meet the quick response of ships and enhance survivability, alignment on moving base has become a key technique for SINS [1]. Different from the alignment for SINS on static base, external information should be brought in to assist alignment for SINS on moving base [2]. The research of alignment on moving base mainly focuses on the assist of GPS location. Compared with GPS, Doppler velocity log (DVL) is an underwater available, independent, and high accuracy velocity measuring element commonly used on ships, and the research of initial alignment for SINS on moving base assisted with DVL has attracted much more attention [6]
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
