Abstract
A novel multistage attitude determination alignment algorithm with different velocity models is proposed to implement the alignment process of in-motion attitude determination alignment (IMADA) aided by the ground velocity expressed in body frame () in this paper. Normally, The -based IMADA is used to achieve the coarse alignment for strapdown inertial navigation system (SINS). The higher the coarse alignment accuracy, the better initial condition can be achieved to guarantee the performance of the subsequent fine alignment. Consider the influence of the principal model errors and the calculation errors on the alignment accuracy in traditional -based IMADA, this paper deals with a novel alignment algorithm by integrating two different velocity-based IMADAs and the multiple repeated alignment processes. The power of this novel alignment algorithm lies in eliminating the principal model errors and decreasing the calculation errors. Then, the higher alignment accuracy is achieved. Simulations and vehicle experiment are performed to demonstrate the validity of the proposed algorithm.
Highlights
Strapdown Inertial Navigation System (SINS) are being widely used for position, location and navigation in both military and civil fields [1,2]
This process consists of two stages: coarse alignment and fine alignment [6]
The accurate coarse alignment can provide a good initial condition to guarantee the performance of fine alignment significantly
Summary
Strapdown Inertial Navigation System (SINS) are being widely used for position, location and navigation in both military and civil fields [1,2]. It is necessary to research the system initialization, namely initial alignment, which is the precondition to guarantee the performance of navigation operation. Since the initial position and velocity can be obtained from the external aiding sensors, the core of initial alignment is to determine the attitude matrix between the body frame and the geographic frame [5]. This process consists of two stages: coarse alignment and fine alignment [6]. The accurate coarse alignment can provide a good initial condition to guarantee the performance of fine alignment significantly. An accurate coarse alignment would be very necessary
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