A robust adaptive indirect in-motion coarse alignment method for GPS/SINS integrated navigation system

Li, Wei; Wang, Yuqiao

doi:10.1016/j.measurement.2020.108834

Cited by 13 publications

(2 citation statements)

References 26 publications

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“…This method utilizes gyroscope readings to track angular motion, reducing the influence of swaying on subsequent gravity vector integration. As a result, a rough attitude that satisfies the assumption of a small misalignment angle is obtained for further Kalman Filter fine alignment [ 3 , 4 , 5 , 6 , 7 , 8 , 9 ]. The second type aims to increase the tolerance of the initial attitude error in the Kalman Filter by establishing a large misalignment angle error model.…”

Section: Introductionmentioning

confidence: 99%

Experimental Research on Shipborne SINS Rapid Mooring Alignment with Variance-Constraint Kalman Filter and GNSS Position Updates

Fan,

Chai,

Liang

et al. 2024

Sensors

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Analytical coarse alignment and Kalman filter fine alignment based on zero-velocity are typically used to obtain initial attitude for inertial navigation systems (SINS) on a static base. However, in the shipboard mooring state, the static observation condition is corrupted. This paper presents a rapid alignment method for SINS on swaying bases. The proposed method begins with a coarse alignment technique in the inertial frame to obtain an initial rough attitude. Subsequently, a Kalman filter with position updates is employed to estimate the remaining misalignment error. To enhance the filter estimation performance, an appropriate lower boundary is set to the target states’ variances according to a carefully designed relative convergence index. The variance-constraint Kalman filter (VCKF) approach is proposed in this paper, and the shipborne experiments validate its effectiveness. The results demonstrate that the VCKF approach significantly reduces the time requirement for fine alignment to achieve the same accuracy on a swaying base, from 90 min in the classic Kalman filter to 30 min. Additionally, the parameter estimation performance in the Kalman filter is also improved, particularly in situations where unpredicted external interference is involved during fine alignment.

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Section: Introductionmentioning

confidence: 99%

Experimental Research on Shipborne SINS Rapid Mooring Alignment with Variance-Constraint Kalman Filter and GNSS Position Updates

Fan,

Chai,

Liang

et al. 2024

Sensors

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“…1,2 The shock loads may cause the failure of precision shipboard equipment, lead to the loss of combat effectiveness of warship, and even lead to great casualties. 3,4 Therefore, it is vital to have a good shock resistance performance for the precision shipboard equipment.…”

Section: Introductionmentioning

confidence: 99%

Dynamic response and time-variant reliability analysis of an eight-rod shock isolator

Liu

Huang

Yan

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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The operation of a warship is commonly affected by shock loads in different directions during sailing in a rough sea, which can decrease the precision of the shipboard equipment. To improve the shock resistance performance of the shipboard equipment, an isolator is usually installed to isolate it from the vibration of the ship deck. The paper proposes a method for dynamic response and time-variant reliability analysis of an eight-rod shock isolator (ERSI). ERSI has a novel symmetrical structure, which can improve the utilization of the isolation rods compared with the classical parallel mechanism. The isolator is modeled using Denavit-Hartenberg (D-H) convention and screw theory. Then, Duhamel integral is employed to derive the dynamic response to the isolator after decoupling the governing equation using the modal analysis method. Considering impacts of uncertain factors, this paper also presents a practical method for time-variant reliability analysis of ERSI. Finally, a discussion of the practical example of this method along with a detailed analysis to evaluate the efficiency of the proposed method is presented.

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Multi-sensor integrated navigation/positioning systems using data fusion: From analytics-based to learning-based approaches

Zhuang

Sun

et al. 2023

Information Fusion

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A robust adaptive indirect in-motion coarse alignment method for GPS/SINS integrated navigation system

Cited by 13 publications

References 26 publications

Experimental Research on Shipborne SINS Rapid Mooring Alignment with Variance-Constraint Kalman Filter and GNSS Position Updates

Experimental Research on Shipborne SINS Rapid Mooring Alignment with Variance-Constraint Kalman Filter and GNSS Position Updates

Dynamic response and time-variant reliability analysis of an eight-rod shock isolator

Multi-sensor integrated navigation/positioning systems using data fusion: From analytics-based to learning-based approaches

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