A Self-alignment Method for Ship Based SINS in Moorage
The additional error in inertial sensors severely affects the self-alignment accuracy when the ship swings around three-axis in moorage. A more comprehensive program for ship based SINS self-alignment is proposed in this paper. In coarse alignment, the outputs of inertial sensors are preprocessed to compute a rough attitude matrix. In fine alignment, the method of calculating the length of lever arm is adopted to compensate the lever arm effect error, in which the angular velocity and angular acceleration are estimated by parameter identification. The attitude of the ship is accurately estimated by Kalman filter. Simulation results show that the quadratic differential error is avoided by parameter identification, and the alignment method is feasibility.
SINS Alignment Parameter identification lever arm effect
ZHANG Huan ZHENG Jiaxing TANG Xiaqing
Department of Control Engineering, The Academy of Armored Forces Engineering, Beijing100072, China College of Optoelectric Science and Engineering, National University of Defense Technology, Changsha410073, China
国际会议
第八届国际测试技术研讨会(8th International Symposium on Test and Measurement)
重庆
英文
2754-2757
2009-08-01（万方平台首次上网日期，不代表论文的发表时间）