Coarse alignment of Inertial Navigation System under large initial heading error

سال انتشار: 1395
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 601

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شناسه ملی سند علمی:

TNNC02_026

تاریخ نمایه سازی: 6 اردیبهشت 1396

چکیده مقاله:

This paper presents a method for coarse alignment of a Strap-down Inertial Navigation System (SDINS) aided by Global Positioning System (GPS) with large initial heading error. Coarse alignment is an important step in IMU’s initial alignment and its exactitude plays a vital role to achieve INS precise initial alignment. If the system restarts during operation or in low-cost systems, the conventional analytic coarse alignment or gyrocompassing theory cannot be used. In this paper, an attitude error model accounting for large initial heading error is introduced. In this model, with a lately represented horizontal frame, the attitude errors are separated into heading errors and leveling errors. An error state Kalman filter is designed to estimate errors during vehicle maneuvers with help of GPS measurements. The proposed approach has the ability to start the coarse alignment under large heading errors. Simulation results indicate that this model works effectually for coarse alignment

نویسندگان

Davood Dadkhah

Isfahan University Of Technology

Asghar Gholami

Department of Electrical and Computer

Narjes Davari

Engineering, Isfahan 8415683111, Iran

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