Initial Alignment by Attitude Estimation for Strapdown Inertial Navigation Systems
This paper derives a novel initial alignment method for the strapdown inertial navigation system (SINS), which transforms the attitude alignment into an attitude estimation problem. The process model of the proposed initial alignment method by attitude estimation is established by decomposition of t...
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| Veröffentlicht in: | IEEE transactions on instrumentation and measurement 2015-03, Vol.64 (3), p.784-794 |
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| container_title | IEEE transactions on instrumentation and measurement |
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| creator | Chang, Lubin Li, Jingshu Chen, Shengyong |
| description | This paper derives a novel initial alignment method for the strapdown inertial navigation system (SINS), which transforms the attitude alignment into an attitude estimation problem. The process model of the proposed initial alignment method by attitude estimation is established by decomposition of the attitude matrix. The measurement model is constructed based on a generalized velocity integration formula that can integrate the inertial measurements over certain fixed time intervals. The contributions of the work presented here are twofold. First, the attitude estimation-based structure enables the proposed method to estimate the gyroscope biases other than the attitude quaternion, which is celebrated for the low-cost SINS. The second is the application of the proposed generalized velocity integration formula to attenuate the accumulated errors in vector observations caused by the traditional velocity integration formula. Experimental road tests are performed with a low-cost SINS, which validate the efficacy of the proposed method. |
| doi_str_mv | 10.1109/TIM.2014.2355652 |
| format | Article |
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The process model of the proposed initial alignment method by attitude estimation is established by decomposition of the attitude matrix. The measurement model is constructed based on a generalized velocity integration formula that can integrate the inertial measurements over certain fixed time intervals. The contributions of the work presented here are twofold. First, the attitude estimation-based structure enables the proposed method to estimate the gyroscope biases other than the attitude quaternion, which is celebrated for the low-cost SINS. The second is the application of the proposed generalized velocity integration formula to attenuate the accumulated errors in vector observations caused by the traditional velocity integration formula. 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The process model of the proposed initial alignment method by attitude estimation is established by decomposition of the attitude matrix. The measurement model is constructed based on a generalized velocity integration formula that can integrate the inertial measurements over certain fixed time intervals. The contributions of the work presented here are twofold. First, the attitude estimation-based structure enables the proposed method to estimate the gyroscope biases other than the attitude quaternion, which is celebrated for the low-cost SINS. The second is the application of the proposed generalized velocity integration formula to attenuate the accumulated errors in vector observations caused by the traditional velocity integration formula. Experimental road tests are performed with a low-cost SINS, which validate the efficacy of the proposed method.</description><subject>Attitude estimation</subject><subject>Attitudes</subject><subject>Estimation</subject><subject>Gyroscopes</subject><subject>inertial navigation</subject><subject>initial alignment</subject><subject>Mathematical model</subject><subject>Matrix decomposition</subject><subject>Quaternions</subject><subject>Silicon compounds</subject><subject>Vectors</subject><subject>velocity integration formula</subject><issn>0018-9456</issn><issn>1557-9662</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kE1Lw0AQhhdRsFbvgpeA59T93s2xFD8CVcHW87JJZsuWNqm7W6X_3tQUT3N53ndmHoRuCZ4QgouHZfk6oZjwCWVCSEHP0IgIofJCSnqORhgTnRdcyEt0FeMaY6wkVyP0UbY-ebvJphu_arfQpqw6ZNOUfNo3kD3G5Lc2-a7NXBeyRQp213Q_bVa2EP5yb_bbrwZicYgJtvEaXTi7iXBzmmP0-fS4nL3k8_fncjad5zVXOuWMY41FY4mUwBUFXkkQGpQSXDhOC1455bTS0koqJNQaN6pSjDslSO2IZWN0P_TuQve1h5jMutuHtl9piNScFJIVtKfwQNWhizGAM7vQvxQOhmBzNGd6c-ZozpzM9ZG7IeIB4B-XBe4PYewXX9xphA</recordid><startdate>20150301</startdate><enddate>20150301</enddate><creator>Chang, Lubin</creator><creator>Li, Jingshu</creator><creator>Chen, Shengyong</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| subjects | Attitude estimation Attitudes Estimation Gyroscopes inertial navigation initial alignment Mathematical model Matrix decomposition Quaternions Silicon compounds Vectors velocity integration formula |
| title | Initial Alignment by Attitude Estimation for Strapdown Inertial Navigation Systems |
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