Transfer Alignment Based on Affine Transformation Model with Noniterative Approach

Abstract

AbstractThe alignment and calibration of a low-precision slave inertial navigation system (SINS) aided with a high-precision master inertial navigation system (MINS) are two main targets of transfer alignment technique. To better solve the problems of the filtering-based method and the optimization-based method, a novel transfer alignment method aimed at alignment and sensor error calibration is proposed in this paper, which transforms the transfer alignment problem into a parameter estimation problem for the affine transformation model and provides a noniterative solution based on the inertial measurements of MINS and SINS. Two different simulations are designed for transfer alignment and the results demonstrate that the proposed method not only is independent on any prior information as compared with the filtering-based method but also can accurately estimate the relative attitude angles as well as the sensor errors of SINS. KeywordsInertial navigation systemTransfer alignmentKalman filterAffine transformation