Fast initial alignment algorithms for SINS based on rate biased RLG on a stationary base

摘要：

In this paper, a new initial alignment algorithm is proposed, which is based on the error characteristic of rate biased RLG and accelerometer in the temperature rising process of SINS on a stationary base. At first, the second-order nonlinear error models of gyro scale factors and accelerometer biases are established to make online nonlinear estimation; then, the gyro drift rates are estimated by Kalman filter; finally, the initial angles are obtained. The results of initial alignment after 3 minutes show that, the alignment accuracy of two leveling angles is about 2, and the alignment accuracy of azimuth angle is better than 1, thus the rapidity and accuracy of initial alignment are increased.

关键词： SINS initial alignment Kalman filter rate biased RLG nonlinear error models

作者: Zhang Xiaoqiang Wu Wenqi Zhang Yan Chu Minsheng

作者单位: College of Mechatronics and Automation National University of Defense Technology Changsha, China

会议类型: 国际会议

会议名称: 2010 International Conference on Measurement and Control Engineering(2010年IEEE测量与控制工程国际会议 ICMCE2010)

会议地点: 成都

会议语种:英文

页码: 660-664

在线出版日期: 2010-11-16（万方平台首次上网日期，不代表论文的发表时间）