Abstract: (354 Views)
Abstract: This paper is concerned with the in-motion alignment for low-cost strap-down inertial navigation system (SINS) using an optimization method. The proposed method utilizes GPS position/velocity, along with the outputs from inertial sensors to generate the observation vectors. By introducing a two-sample approximation approach, a recursive velocity/position optimization algorithm is developed by discretizing the integral terms of the observation vectors to estimate the initial attitude matrix. Compared with the traditional velocity integration formulae for constructing the vector observations, the proposed method maintains approximately the same convergence speed while exhibiting more robustness against bias and measurement noise present in the inertial sensors outputs due to the use of position observations. The proposed algorithm provides accurate estimates in applications involving rapid changes in the angular velocities measured by gyroscopes and the forces measured by accelerometers. Simulation results in various scenarios indicate that after 100s, the root mean square of estimation error for the low-cost ADIS16488 INS is less than 
for yaw angle, less than 
for pitch angle, and less than 
for roll angle. This accuracy in the initial Euler angle estimates is sufficient for the coarse in-motion alignment.
for yaw angle, less than for pitch angle, and less than for roll angle. This accuracy in the initial Euler angle estimates is sufficient for the coarse in-motion alignment.
Keywords: Strap-down Inertial Navigation System (SINS), In-motion alignment, optimization based alignment, augmented observation vectors, velocity/position integration formulae
Type of Article: Research paper |
Subject:
Special
Received: 2023/12/18 | Accepted: 2024/12/28 | ePublished ahead of print: 2025/03/3
Received: 2023/12/18 | Accepted: 2024/12/28 | ePublished ahead of print: 2025/03/3
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