In-motion Alignment Algorithm for Vehicle Carried SINS Based on Odometer Aiding

In-motion alignment of navigation-grade strapdown inertial navigation system (SINS) combined with odometer (OD) is one of the challenging issues for the land vehicle navigation, while most current in-motion alignment methods still rely on the measurements of the global positioning system or only aim at improving the attitude alignment, thus neglecting the position alignment. Thus, one of the main obstacles during the in-motion alignment for SINS/OD is to autonomously and simultaneously obtain the high-precision attitude and position within specified time. In this paper, an in-motion alignment scheme based on the backtracking scheme is presented to solve this problem. The proposed method consists of two steps. First, an improved optimization-based coarse alignment (IOBCA) is employed to obtain the attitude and position with reasonable precision, and the gravity deflexion error projection in inertial frame caused by the positioning error is diminished, which contributes to better alignment results for the subsequent process. Second, initialized with the alignment results provided by IOBCA, a backtracking-scheme-based fine alignment combined with the Kalman filter is investigated to make a further improvement in the precision of attitude and position, during which the known initial binding position and zero velocity have been utilized again. The car-mounted field experimental results illustrate that the proposed method can not only autonomously improve the precision of attitude within a short time but also simultaneously achieve the position with high precision. INDEX TERMS In-motion alignment, strapdown inertial navigation system (SINS), odometer (OD), backtracking.

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“…According to the forward SINS algorithm and forward DR algorithm, the error model of the SINS/OD can be written as [25], [26]…”

Section: Kalman-fitering-based Fine Alignmentmentioning

confidence: 99%

In-Motion Attitude and Position Alignment for Odometer-Aided SINS Based on Backtracking Scheme

et al. 2019

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“…Issues of the initial exhibition of inertial systems for various purposes and equipment are given considerable attention. So in [5] the problem of determining the initial angles of course, pitch and roll for a moving object is considered.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Development of method and algorithm of dynamic gyrocompassing for highspeed systems of navigation and control of movement

Uspenskyi

Багмут

Nekrasova

2018

EEJET

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Запропоновано і детально описано оригінальну конструкцію динамічного гірокомпасу на оптичних гіроскопах та метод його використання. Розроблено алгоритм застосування такого гірокомпасування у випадку, коли вібропідставка лазерного гіроскопу відсутня. Доведено високу точність роботи такого гірокомпасу. В умовах його використання можна знизити рівень шуму лазерного гіроскопа. Завдяки обертанню значно компенсується вплив повільно мінливого дрейфу та магнітна складова дрейфу Ключові слова: гірокомпасування, лазерний гіроскоп, акселерометр, дрейф, кут курсу, навігаційна система, керування рухом Предложена и детально описана оригинальная конструкция динамического гирокомпаса на оптических гироскопах и метод его использования. Разработан алгоритм применения такого гирокомпасирования в случае, когда виброподставка лазерного гироскопа отсутствует. Доказана высокая точность работы такого гирокомпаса. При условиях его использования можно снизить уровень шума лазерного гироскопа. Благодаря вращению значительно компенсируется влияние переменного дрейфа и магнитная составляющая дрейфа Ключевые слова: гирокомпасирование, лазерный гироскоп, акселерометр, дрейф, угол курса, навигационная система, управление движением

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“…A lot of literature has been devoted to the linear model of SINS/OD system. In [17] and [18], taken the odometer scale factor error and the attitude matrix error into consideration, a linear error model of OD is established. Li et al proposed an online calibration and compensation of total OD error in SINS/OD system [19].…”

Section: Introductionmentioning

confidence: 99%

Odometer Aided SINS in-Motion Alignment Method Based on Backtracking Scheme for Large Misalignment Angles

et al. 2020

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In-motion alignment of Strapdown Inertial Navigation Systems (SINS) without any geodeticframe observations is one of the toughest challenges for odometer aided navigation system. It is difficult to obtain an accurate attitude within a short time using coarse alignment under intense maneuvering condition, so one of the main obstacles during in-motion alignment for SINS/OD is to estimate an accurate attitude during fine alignment process under large azimuth misalignment angle. However, most current in-motion alignment methods were based on linear error model. In this paper, an OD aided in-motion alignment method based on backtracking scheme for large misalignment angles is proposed. Three improvements were made as the following: (1) A continuous nonlinear 16-dimensional (16D) SINS/OD error model is derived. (2) We proposed a backtracking-based Extended Kalman filter (EKF) and (3) a strict reverse navigation method is utilized in the backward process. Experimental results illustrated that the proposed method can autonomously improve the estimated attitude accuracy under the condition of large misalignment angle. INDEX TERMS In-motion alignment, large misalignment angles, strapdown inertial navigation system (SINS), odometer (OD), backtracking, extended Kalman filter (EKF).

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In-motion Alignment Algorithm for Vehicle Carried SINS Based on Odometer Aiding

Cited by 28 publications

References 26 publications

In-Motion Attitude and Position Alignment for Odometer-Aided SINS Based on Backtracking Scheme

In-Motion Attitude and Position Alignment for Odometer-Aided SINS Based on Backtracking Scheme

Development of method and algorithm of dynamic gyrocompassing for highspeed systems of navigation and control of movement

Odometer Aided SINS in-Motion Alignment Method Based on Backtracking Scheme for Large Misalignment Angles

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In-motion Alignment Algorithm for Vehicle Carried SINS Based on Odometer Aiding

Cited by 28 publications

References 26 publications

In-Motion Attitude and Position Alignment for Odometer-Aided SINS Based on Backtracking Scheme

In-Motion Attitude and Position Alignment for Odometer-Aided SINS Based on Backtracking Scheme

Development of method and algorithm of dynamic gyrocompassing for high­speed systems of navigation and control of movement

Odometer Aided SINS in-Motion Alignment Method Based on Backtracking Scheme for Large Misalignment Angles

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Development of method and algorithm of dynamic gyrocompassing for highspeed systems of navigation and control of movement