New initial alignment algorithm for SINS on moving base

Gong Min Yan, Yong Yuan Qin, Yu Xin Wei, Li Chuan Zhang, De Min Xu, Wei Sheng Yan

Research output: Contribution to journalArticlepeer-review

54 Scopus citations

Abstract

On the moving base, a new initial alignment algorithm for strapdown inertial navigation system (SINS) is proposed. In this algorithm, two special inertial frames, the initial-time inertial frame (i0 frame) and the initial-time SINS body inertial frame (ib0 frame), are defined and are selected as transition reference frames. The calculation of initial alignment direction cosine matrix (DCM) between SINS body frame (b frame) and navigation reference frame (n frame) is expanded into three parts: (1) the DCM between i0 frame and n frame is easily obtained via local geographical coordinates and initial alignment time; (2) by expressing SINS specific force equation in b frame and by the aid of external velocity log, the constant DCM from ib0 frame to i0 frame is achieved; (3) attitude updating using gyro samples gets the DCM between b frame and ib0 frame. In the end, some vehicular tests are carried out on the moving base and the accuracy of azimuth reaches about 0.1°(1σ).

Original languageEnglish
Pages (from-to)634-637
Number of pages4
JournalXi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics
Volume31
Issue number3
StatePublished - Mar 2009

Keywords

  • Inertial frame
  • Initial alignment
  • Moving base
  • SINS
  • Vehicular test

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