Abstract
In-motion alignment of Strapdown Inertial Navigation Systems (SINS) without any geodetic-frame observations is one of the toughest challenges for odometer aided navigation system. It is difficult to obtain an accurate attitude within a short time using coarse alignment under intense maneuvering condition, so one of the main obstacles during in-motion alignment for SINS/OD is to estimate an accurate attitude during fine alignment process under large azimuth misalignment angle. However, most current in-motion alignment methods were based on linear error model. In this paper, an OD aided in-motion alignment method based on backtracking scheme for large misalignment angles is proposed. Three improvements were made as the following: (1) A continuous nonlinear 16-dimensional (16D) SINS/OD error model is derived. (2) We proposed a backtracking-based Extended Kalman filter (EKF) and (3) a strict reverse navigation method is utilized in the backward process. Experimental results illustrated that the proposed method can autonomously improve the estimated attitude accuracy under the condition of large misalignment angle.
Highlights
INTRODUCTIONStrapdown Inertial Navigation Systems (SINS) estimate position, velocity and angular orientation upon signals acquired by inertial measurement unit (IMU) - three accelerometers and gyroscopes stiffly fixed on a vehicle
(2) We proposed a backtracking-based Extended Kalman filter (EKF) and (3) a strict reverse navigation method is utilized in the backward process
Strapdown Inertial Navigation Systems (SINS) estimate position, velocity and angular orientation upon signals acquired by inertial measurement unit (IMU) - three accelerometers and gyroscopes stiffly fixed on a vehicle
Summary
Strapdown Inertial Navigation Systems (SINS) estimate position, velocity and angular orientation upon signals acquired by inertial measurement unit (IMU) - three accelerometers and gyroscopes stiffly fixed on a vehicle. Huang et al proposed a kalman-filtering-based in-motion coarse alignment methods in order to compensate for the dynamic errors of gyroscope induced by severe maneuvering [4]. Z. Wen et al.: OD Aided SINS In-Motion Alignment Method Based on Backtracking Scheme has been proposed [13]–[15]. Few researches were about backtracking scheme based on nonlinear filter, which was considered as a necessary method for fast alignment under the condition of large misalignment angles. In order to solve the above problems, an OD aided inmotion alignment method based on backtracking scheme for large misalignment angles is proposed. In order to get a higher accuracy in the backtracking filtering process, we propose a method with strict reverse iteration based on the research on the iterative process of reverse navigation.
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