Optimal Two-position Alignment for Strapdown Inertial Navigation System

摘要：

The optimal two-position alignment using Kalman filter is newly derived for strapdown inertial navigation system (SINS). During the alignment process, SINS is rotated with respect to the heading axis. The Kalman filter estimates the misalignments and gyro drifts at these two positions. In terms of the relationship between yaw misalignments and gyro drifts, the horizontal gyro drifts can be computed. The final alignment works after the horizontal gyro drifts are compensated. So the influence of the horizontal gyro drifts on yaw misalignment could be eliminated effectively. The simulation show this alignment method makes the horizontal gyro drifts computable under stationary base, and the estimation accuracy of yaw misalignment is higher by using this method than conventional stationary alignment methods.

作者: Fei Yu Yueyang Ben Qian Li Wei Gao

作者单位: Harbin Institute of Technology Harbin Engineering University Shanghai Jiao tong University

会议类型: 国际会议

会议名称: International Conference on Intelligent Computation Technology and Automation(2008 智能计算技术与自动化国际会议 ICICTA 2008)

会议地点: 长沙

会议语种:英文

页码: 1449-1455

在线出版日期: 2008-10-20（万方平台首次上网日期，不代表论文的发表时间）