A Novel Real-Time Alignment Method of SINS/GPS for Land Vehicle Application
Misalignment and gyro drift error can be important error sources in Inertial Navigation System (INS). INS has poor long-term stability due to errors in inertial sensors. The Global Positioning System (GPS) provides the position, velocity of vehicles with bounded accuracy, and its performance does not deteriorate with time. But GPS is considered as discrete-time sensors. To combine the advantages of INS and GPS, and improve navigation accuracy, presents a novel real-time attitude correcting method for SINS/GPS mounted on land vehicles based on two vector measurements of non-zero, non-collinear vectors. This method utilizes two velocities measured by GPS at two different time point and attitude matrix provided by INS, to obtain two non-zero, non-collinear vectors, whose components are given in two different coordinate systems: body coordinate systems and reference coordinate systems. Then attitude can be determined by TRIAD algorithm. Simulation results show the effectiveness of the SINS real-time alignment method based on single GPS antenna.
WANG Xin-guo LI Ai-hua HOU Shu-ming XU Hua-long
Xian Research Inst. Of Hi-Tech, Hongqing Town, Xian, P.R. 710025, China
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）