On-the-move Alignment for Strap-down Inertial Navigation System

摘要：

The initial alignment of the terrestrial vehicle borne strap-down inertial navigation system (SINS)is investigated.An on-the-move alignment algorithm using the information provided by an odometer,whose scale factor may have an unknown stant bias,is proposed.This algorithm is designed to take the place of the stationary-based fine alignment.The vehicle,during the fine alignment phase,is not necessarily to be kept in stationary state.It can leave for the destination after the stationary-based coarse alignment,and accomplishes fine alignment in the moving state.The alignment formulation of the new algorithm is derived. On the basis of the formulation,a Kalman filter is designed, which uses the difference of the SINS positioning result and the odometer dead reckoning result as the measurement.The results of a nonlinear Monte Carlo simulation show that this algorithm accomplish initial alignment and odometer scale factor bration jointly within 10 minutes.

作者: Changshan Zhao Yongyuan Qin Gonming Yan

作者单位: College of Automation Northwestern Polytechnical University Xi an 710072,China

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 1428-1432

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）