An Improved Initial Alignment Method of Strap-Down Inertial Navigation System on a Swaying Base
The design of an improved alignment method of SINS on a swaying base is presented in this paper. FIR filter is taken to decrease the impact caused by the lever arm effect. And the system also encompasses the online estimation of gyroscopes’ drift with Kalman filter in order to do the compensation, a...
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| Veröffentlicht in: | Applied Mechanics and Materials 2013-09, Vol.415 (Automatic Control and Mechatronic Engineering II), p.143-148 |
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| container_issue | Automatic Control and Mechatronic Engineering II |
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| container_title | Applied Mechanics and Materials |
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| creator | Cheng, Xiang Hong Zhu, Li Hua |
| description | The design of an improved alignment method of SINS on a swaying base is presented in this paper. FIR filter is taken to decrease the impact caused by the lever arm effect. And the system also encompasses the online estimation of gyroscopes’ drift with Kalman filter in order to do the compensation, and the inertial freezing alignment algorithm which helps to resolve the attitude matrix with respect to its fast and robust property to provide the mathematical platform for the vehicle. Simulation results show that the proposed method is efficient for the initial alignment of the swaying base navigation system. |
| doi_str_mv | 10.4028/www.scientific.net/AMM.415.143 |
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| subjects | Algorithms Alignment Compensation Computer simulation Drift Gyroscopes Inertial Levers |
| title | An Improved Initial Alignment Method of Strap-Down Inertial Navigation System on a Swaying Base |
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