Fast Fine Initial Self-alignment of INS in Erecting Process on Stationary Base

Li, Jianli; Li, Yiqi; Liuxs, Baiqi

doi:10.1017/s037346331700090x

Cited by 15 publications

(11 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…, η is the scalar part and ε is the vector part are respectively the scalar and vector part of the quaternion and q = ε η T . Substituting 14into (12), the gain function in the quaternion form is as…”

Section: Traditional Optimization-based Alignment Methodsmentioning

confidence: 99%

“…Therefore the main aim of initial alignment is to determine the initial attitude between the body frame and reference navigation frame [11]. In recent years, many attitude determination methods have been proposed for the initial attitude alignment, for example, analytic alignment method, transfer alignment method [12][13][14][15][16]. However, they are not applicable when the carrier is in-flight, which is the main focus of this paper.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A New In-Flight Alignment Method with an Application to the Low-Cost SINS/GPS Integrated Navigation System

Zhang

et al. 2020

Sensors

View full text Add to dashboard Cite

The optimization-based alignment (OBA) methods, which are implemented by the optimal attitude estimation using vector observations—also called double-vectors—have proven to be effective at solving the in-flight alignment (IFA) problem. However, the traditional OBA methods are not applicable for the low-cost strap-down inertial navigation system (SINS) since the error of double-vectors will be accumulated over time due to the substantial drift of micro-electronic- mechanical system (MEMS) gyroscope. Moreover, the existing optimal estimation method is subject to a large computation burden, which results in a low alignment speed. To address these issues, in this article we propose a new fast IFA method based on modified double-vectors construction and the gradient descent method. To be specific, the modified construction method is implemented by reducing the integration interval and identifying the gyroscope bias during the construction procedure, which improves the accuracy of double-vectors and IFA; the gradient descent scheme is adopted to estimate the optimal attitude of alignment without complex matrix operation, which results in the improvement of alignment speed. The effect of different sizes of mini-batch on the performance of the gradient descent method is also discussed. Extensive simulations and vehicle experiments demonstrate that the proposed method has better accuracy and faster alignment speed than the related traditional methods for the low-cost SINS/global positioning system (GPS) integrated navigation system

show abstract

Section: Traditional Optimization-based Alignment Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A New In-Flight Alignment Method with an Application to the Low-Cost SINS/GPS Integrated Navigation System

Zhang

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…by the PF new. Additionally, since the system model is a firstorder Markov process, we can represent ( , | Θ ) as (26) according to the whole probability formula,…”

Section: Apfmentioning

confidence: 99%

A Novel EM Implementation for Initial Alignment of SINS Based on Particle Filter and Particle Swarm Optimization

Guo

Miao

Lin

2019

Mathematical Problems in Engineering

View full text Add to dashboard Cite

For nonlinear systems in which the measurement noise parameters vary over time, adaptive nonlinear filters can be applied to precisely estimate the states of systems. The expectation maximization (EM) algorithm, which alternately takes an expectation- (E-) step and a maximization- (M-) step, has been proposed to construct a theoretical framework for the adaptive nonlinear filters. Previous adaptive nonlinear filters based on the EM employ analytical algorithms to develop the two steps, but they cannot achieve high filtering accuracy because the strong nonlinearity of systems may invalidate the Gaussian assumption of the state distribution. In this paper, we propose an EM-based adaptive nonlinear filter APF to solve this problem. In the E-step, an improved particle filter PF_new is proposed based on the Gaussian sum approximation (GSA) and the Monte Carlo Markov chain (MCMC) to achieve the state estimation. In the M-step, the particle swarm optimization (PSO) is applied to estimate the measurement noise parameters. The performances of the proposed algorithm are illustrated in the simulations with Lorenz 63 model and in a semiphysical experiment of the initial alignment of the strapdown inertial navigation system (SINS) in large misalignment angles.

show abstract

“…Later, [18] employed zero angular rate aiding for a tactical grade INS mounted on a vehicle and proposed means to overcome the quasi-stationary conditions. In [19] FA during the erecting process on a stationary base is considered using position and velocity updates. In this paper, the scenario of stationary INS FA using lowcost gyroscopes is considered.…”

Section: Introductionmentioning

confidence: 99%

INS Fine Alignment With Low-Cost Gyroscopes: Adaptive Filters for Different Measurement Types

Klein

Bar‐Shalom

2021

IEEE Access

View full text Add to dashboard Cite

Inertial navigation system stationary fine alignment process is a critical step in reducing the initial errors of the attitude and sensor biases. While many studies had been made for tactical grade systems, less attention was given to low-cost sensors, which are a major player in today's inertial sensors market. To fill this gap, a measurement strategy combining different INS aiding types is proposed, analyzed and compared using numerical simulations and field experiments. Additionally, an analytical linear observability analysis is made to support the numerical comparisons. Further, five types of adaptive Kalman filters with the proposed measurement strategy are compared to find the appropriate one to improve the alignment performance. The proposed measurement strategy can be used in other applications of stationary conditions such as land vehicles, robots or shoe-mounted inertial navigation systems.

show abstract

Fast Fine Initial Self-alignment of INS in Erecting Process on Stationary Base

Cited by 15 publications

References 17 publications

A New In-Flight Alignment Method with an Application to the Low-Cost SINS/GPS Integrated Navigation System

A New In-Flight Alignment Method with an Application to the Low-Cost SINS/GPS Integrated Navigation System

A Novel EM Implementation for Initial Alignment of SINS Based on Particle Filter and Particle Swarm Optimization

INS Fine Alignment With Low-Cost Gyroscopes: Adaptive Filters for Different Measurement Types

Contact Info

Product

Resources

About