Initial alignment on moving base using GPS measurements to construct new vectors

Ma, Longhua; Wang, Kaili; Shao, Meng

doi:10.1016/j.measurement.2013.04.058

Cited by 19 publications

(11 citation statements)

References 6 publications

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“…When solving equation (10), the Q-method is deeply dependent on the output of the IMU. This means that the OBM is susceptible to the bias of the gyroscope and accelerometer.…”

Section: Error Analysismentioning

confidence: 99%

“…This is the second type of conventional coarse alignment methods, and it yields desirable initial attitude results. 10 Another type of in-motion alignment method, known as the optimization-based method (OBM), utilizes gravity in the inertial frame as a reference and transforms the attitude method into a continuous attitude determination problem. [11][12][13] In OBMs, the attitude matrices are decomposed to form the process model, velocity and position are integrated to construct measurements, and quaternion optimization is utilized.…”

Section: Introductionmentioning

confidence: 99%

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A robust cascaded strategy of in-motion alignment for inertial navigation systems

Liu

Duan

Zhu

2017

International Journal of Distributed Sensor Networks

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Inertial navigation system needs to be initialized through the alignment process, before the transition into the navigation stage can be made. In this article, a robust cascaded strategy of alignment which aims to provide an automatic operating alignment strategy for different application scenarios is proposed. The robust cascaded strategy of alignment utilizes the advantages of several alignment methods to form a cascaded alignment strategy. As a result, the robust cascaded strategy of alignment can be utilized in applications with different grade inertial measurement units under complex dynamic condition. In addition, several control measures are added into the robust cascaded strategy of alignment process to increase its robustness and to ensure that acceptable performance may be attained. A filed test using two inertial measurement units (tactical-grade FSAS and micro-electro-mechanical-system-grade SBG) shows that the proposed robust cascaded strategy of alignment can achieve alignment under various dynamic conditions, such as low speed motion, turns, stationary positions, and straight motion. The mean heading error and level angle error are 0.10°and -0.08°for the FSAS, respectively, and -0.44°and -0.02°for the SBG, respectively. The root mean square of the heading error and level angle error for the FSAS are 2.08°and 0.50°, respectively, while those for the SBG are 2.95°and 1.44°, respectively.

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“…When solving equation (10), the Q-method is deeply dependent on the output of the IMU. This means that the OBM is susceptible to the bias of the gyroscope and accelerometer.…”

Section: Error Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A robust cascaded strategy of in-motion alignment for inertial navigation systems

Liu

Duan

Zhu

2017

International Journal of Distributed Sensor Networks

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“…Ma et al constructed new auxiliary vectors using GPS measurements to solve the initial attitude matrix in navigation equations recursively as coarse alignment. 20) But it faces the difficulty of a long alignment time and needs to be demonstrated experimentally. These referenced works are mostly focused on in-motion or inflight alignment for airborne/ship-based SINS.…”

Section: Introductionmentioning

confidence: 99%

“…Motivated by the work mentioned above, 11,13,20) this paper proposes an in-flight coarse alignment method with the aid of GNSS in an analytical way. High-precision position and velocity measurements from GNSS as well as specific force from MEMS-IMU (MIMU) are needed to construct new vectors, which help calculate the attitude matrix in the GNSS update rate.…”

Section: Introductionmentioning

confidence: 99%

Novel In-flight Coarse Alignment of Low-cost Strapdown Inertial Navigation System for Unmanned Aerial Vehicle Applications

Wang

Chen²,

2016

Trans. Japan Soc. Aero. S Sci.

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Kalman filtering-based in-flight alignment heavily relies on coarse alignment to obtain a sound initial attitude; otherwise the subsequent fine alignment cannot achieve a reliable and satisfying result. In order to strengthen the rapid response capability, it is necessary to have an integrated system combining an airborne global navigation satellite system (GNSS) with strapdown inertial navigation system (SINS) to implement coarse alignment on a moving base. Due to complicated flight dynamics and strict load constraints of UAVs, in-flight coarse alignment is much more difficult than ground coarse alignment. Moreover, the introduction of a low-cost micro-electro-mechanical system-based SINS (MEMS-SINS) with high noise, which is suitable for UAV applications with advantages in cost-effectiveness, lightweight, miniature design, low power consumption and survivability, makes it more challenging. In this paper, a novel in-flight coarse alignment aided by GNSS is derived to obtain the initial attitude based on quaternion. Velocity and its differential information from GNSS and specific forces from MEMS-SINS are compared to obtain an analytical solution for the initial angles. A flight test is conducted to test the new algorithm. The results indicate it can achieve 11.5 deg (1·) accuracy for heading, and 5.7 deg (1·) accuracy for level angles (i.e., roll and pitch). As a nice in-flight coarse alignment, it can guarantee accurate and reliable fine alignment afterward.

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“…A novel method using the GPS measurements is investigated by Ma et al to help to solve coarse alignment. Specific vectors are constructed with GPS measurements and used for attitude matrix computation [10]. In addition, a nonlinear approach for the in-motion alignment problem of inertial navigation system using Doppler speed measurements with unknown initial vehicle is proposed by Bimal Raj and Joshi, and an unscented Kalman filter for alignment shows better performance than that of extended Kalman filter [11].…”

Section: Introductionmentioning

confidence: 99%

In-Flight Self-Alignment Method Aided by Geomagnetism for Moving Basement of Guided Munitions

Zhang

2015

Journal of Control Science and Engineering

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Due to power-after-launch mode of guided munitions of high rolling speed, initial attitude of munitions cannot be determined accurately, and this makes it difficult for navigation and control system to work effectively and validly. An in-flight self-alignment method aided by geomagnetism that includes a fast in-flight coarse alignment method and an in-flight alignment model based on Kalman theory is proposed in this paper. Firstly a fast in-flight coarse alignment method is developed by using gyros, magnetic sensors, and trajectory angles. Then, an in-flight alignment model is derived by investigation of the measurement errors and attitude errors, which regards attitude errors as state variables and geomagnetic components in navigation frame as observed variables. Finally, fight data of a spinning projectile is used to verify the performance of the in-flight self-alignment method. The satisfying results show that (1) the precision of coarse alignment can attain below 5 ∘ ; (2) the attitude errors by in-flight alignment model converge to 24 at early of the latter half of the flight; (3) the in-flight alignment model based on Kalman theory has better adaptability, and show satisfying performance.

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Initial alignment on moving base using GPS measurements to construct new vectors

Cited by 19 publications

References 6 publications

A robust cascaded strategy of in-motion alignment for inertial navigation systems

A robust cascaded strategy of in-motion alignment for inertial navigation systems

Novel In-flight Coarse Alignment of Low-cost Strapdown Inertial Navigation System for Unmanned Aerial Vehicle Applications

In-Flight Self-Alignment Method Aided by Geomagnetism for Moving Basement of Guided Munitions

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