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Analytic alignment is a type of self-alignment for a Strapdown inertial navigation system (SINS) that is based solely on two non-collinear vectors, which are the gravity and rotational velocity vectors of the Earth at a stationary base on the ground. The attitude of the SINS with respect to the Earth can be obtained directly using the TRIAD algorithm given two vector measurements. For a traditional analytic coarse alignment, all six outputs from the inertial measurement unit (IMU) are used to compute the attitude. In this study, a novel analytic alignment method called selective alignment is presented. This method uses only three outputs of the IMU and a few properties from the remaining outputs such as the sign and the approximate value to calculate the attitude. Simulations and experimental results demonstrate the validity of this method, and the precision of yaw is improved using the selective alignment method compared to the traditional analytic coarse alignment method in the vehicle experiment. The selective alignment principle provides an accurate relationship between the outputs and the attitude of the SINS relative to the Earth for a stationary base, and it is an extension of the TRIAD algorithm. The selective alignment approach has potential uses in applications such as self-alignment, fault detection, and self-calibration.

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This paper proposes an ultra-low voltage delay element for battery-assistance DC energy harvesting systems. By inserting a low voltage level shifter (VLS), a wider voltage range is obtained to bias the body of the delay element. Thus, both the voltage transfer curve (VTC) and the DC gain of the delay element are enhanced. Due to the introduction of the VLS, the cold start-up ring oscillator constituted by the proposed delay element can achieve oscillation under an extremely low input voltage. The fully integrated cold start-up ring oscillator with 21 stages of the proposed element is implemented in a standard 180 nm complementary metal oxide semiconductor (CMOS) process. The post-layout experimental results indicate that the cold start-up ring oscillator can retain oscillation when the power supply voltage (VDD) is 24 mV under a typical corner at room temperature. The output voltage swing of the cold start-up ring oscillator based on the proposed delay element is improved by more than 55% under VDD = 40 mV compared with a stacked inverter-based cold start-up ring oscillator. Monte Carlo (MC) simulation from 100 samples shows the enhanced output swing with the proposed delay element under process variation.

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