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

Wen, Zeyang; Yang, Ge; Cai, Qingzhong; Sun, Yan

doi:10.1109/access.2019.2962511

Cited by 19 publications

(8 citation statements)

References 25 publications

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“…Currently, research on polar alignment algorithms has focused on improving alignment accuracy, but not on alignment speed. In order to improve the alignment speed of SINS, [20][21][22] have proposed integrated fine alignment methods based on a backtracking scheme, which effectively shortens the alignment time. In the polar region, the gyrocompass effect weakens, and the convergence time of the inertial-frame coarse alignment is increased, resulting in the coarse alignment time exceeding the backtracking fine alignment time.…”

Section: Of 23mentioning

confidence: 99%

A Polar Moving-Base Alignment Based on Backtracking Scheme

Cheng¹,

Liu²,

Wang³

et al. 2023

Preprint

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In the polar region, the gravity vector and Earth's rotation vector tend to be in the same direction, leading to slower convergence speed and longer alignment time of the moving base alignment. When the alignment time is short, the alignment cannot converge, resulting in low azimuth accuracy. To address this issue, we propose a polar moving base alignment method based on backtracking scheme. Notably, this work first derives a polar coarse alignment method with the inertial frame based on the transverse Earth model. On this basis, we design a polar coarse alignment method based on backtracking scheme and optimize the data storage scheme. Then, an inverse navigation algorithm based on the transverse inertial navigation mechanical arrangement scheme was derived, and a polar fine alignment method based on backtracking scheme was designed. Semi-physical simulation experiments showed that the alignment algorithm based on backtracking scheme can converge in a short time with high alignment accuracy.

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Section: Of 23mentioning

confidence: 99%

A Polar Moving-Base Alignment Based on Backtracking Scheme

Cheng¹,

Liu²,

Wang³

et al. 2023

Preprint

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show abstract

“…Moreover, and denote the output of the accelerometer and the gyro in the b frame, respectively. In addition, considering that the speed of the ship is much smaller than the speed of rotation of the Earth, the following equation is obtained (Wen et al, 2019): where is the length if the semimajor axis of the ellipsoid.…”

Section: Preliminaries and Problem Statementmentioning

confidence: 99%

H_i/H_∞-optimised fault detection for a surface vessel integrated navigation system

Guo

Zhang

2022

J. Navigation

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Strapdown inertial navigation systems are widely used in surface ships and warships. Although high-precision optical fibre inertial navigation systems are available, they have high cost and limited practicality. Therefore, they cannot replace the traditional platform inertial navigation systems in all ships. Hence, microelectromechanical system (MEMS)-based inertial sensors are widely used for robust navigation. Accurate and timely identification of sensor faults while ensuring stable navigation is a challenging task. This paper proposes a robust fault detection (FD) approach for a low-cost system that loosely integrates a strapdown inertial navigation system and the global navigation satellite system, where the integrated navigation state estimation provides high-accuracy output. A cubature Hi/H∞-optimised FD filter was designed for a nonlinear discrete time-varying system considering sensitivity to faults and robustness to disturbances. Furthermore, a threshold for FD was derived considering a compromise between the false alarm rate and fault diagnosis accuracy. Finally, the proposed method was validated through simulations using multiple noise distribution sensor data generated by a ship-manoeuvring simulator.

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“…Conventional self-alignment methods are performed sequentially in chronological order, and data processing is often one-off; the data of the previous stage are not used in the later stage, and there is no storage requirement, resulting in inadequate information mining [ 4 ]. In contrast, the computing power of current navigation computers is strong enough and the capacity is large enough to save the SINS data, which can then be repeatedly processed and analyzed, providing another method of improving the accuracy and speed of an LV’s self-alignment at sea.…”

Section: Introductionmentioning

confidence: 99%

A Rapid Self-Alignment Strategy for a Launch Vehicle on an Offshore Launching Platform

Zhang

2022

Sensors

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To reduce the impact of offshore launching platform motion and swaying on the self-alignment accuracy of a launch vehicle, a rapid self-alignment strategy, which involves an optimal combination of anti-swaying coarse alignment (ASCA), backtracking navigation, and reverse Kalman filtering is proposed. During the entire alignment process, the data provided by the strapdown inertial navigation system (SINS) are stored and then applied to forward and backtrack self-alignment. This work elaborates the basic principles of coarse alignment and then analyzes the influence of ASCA time on alignment accuracy. An error model was built for the reverse fine alignment system. The coarse alignment was carried out based on the above work, then the state of the alignment system was retraced using the reverse inertial navigation solution and reverse Kalman filtering with the proposed strategy. A cycle-index control function was designed to approximate strict backtracking navigation. Finally, the attitude error was compensated for after the completion of the first and the last forward navigation. To demonstrate the effectiveness of the proposed strategy, numerical simulations were carried out in a scenario of launch vehicle motion and swaying. The proposed strategy can maximize the utilization of SINS data and hence improve the alignment accuracy and further reduce the alignment time. The results show that the fully autonomous alignment technology of the SINS can replace the complex optical aiming system and realize the determination of the initial attitude of a launch vehicle before launch.

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

Cited by 19 publications

References 25 publications

A Polar Moving-Base Alignment Based on Backtracking Scheme

A Polar Moving-Base Alignment Based on Backtracking Scheme

H_i/H_∞-optimised fault detection for a surface vessel integrated navigation system

A Rapid Self-Alignment Strategy for a Launch Vehicle on an Offshore Launching Platform

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

Cited by 19 publications

References 25 publications

A Polar Moving-Base Alignment Based on Backtracking Scheme

A Polar Moving-Base Alignment Based on Backtracking Scheme

Hi/H∞-optimised fault detection for a surface vessel integrated navigation system

A Rapid Self-Alignment Strategy for a Launch Vehicle on an Offshore Launching Platform

Contact Info

Product

Resources

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H_i/H_∞-optimised fault detection for a surface vessel integrated navigation system