A Combined Alignment Method for Strapdown Inertial Navigation System on Stationary Base

作     者：Shuai Chen Xinzhi Liu Qian Sun Ya Zhang Shuai Chen;Xinzhi Liu;Qian Sun;Ya Zhang

作者机构：School of Information and Control EngineeringLiaoning Shihua UniversityFushun 113001LiaoningChina Department of Applied MathematicsUniversity of WaterlooWaterloo N2L3G1Canada College of Information and Communication EngineeringHarbin Engineering UniversityHarbin 150001China School of Electrical Engineering&AutomationHarbin Institute of TechnologyHarbin 150001China 

出 版 物：《Journal of Harbin Institute of Technology(New Series)》 (哈尔滨工业大学学报（英文版）)

年 卷 期：2020年第27卷第6期

页      面：57-71页

学科分类：0810[工学-信息与通信工程] 08[工学] 081105[工学-导航、制导与控制] 0805[工学-材料科学与工程（可授工学、理学学位）] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Sponsored by the National Natural Science Foundation of China(Grant No.51709068). 

主　　题：inertial navigation instrumentation and measurement gyroscopes accelerometers Kalman filter measurement errors 

摘      要：Owing to the weak observability of the azimuth misalignment angle,alignment accuracy and time are always the contradictory issues in the initial alignment process of Strapdown Inertial Navigation System(SINS),which requires a compromise between them.In this paper,a combined alignment mechanism is proposed to construct an observable and controllable system model,which can effectively achieve higher azimuth alignment accuracy during the fixed time period.First,the Reduced Order Kalman Filter(ROKF)alignment algorithm was utilized to calculate the misalignment angles in parallel with the classical gyrocompass alignment algorithm.Then,the misalignment angles calculated by the gyrocompass alignment method were used to formulate the augmented measurement model with zero velocity models.Finally,the zero velocity model of the ROKF method was switched into the augmented measurement model when the azimuth misalignment angle of the gyrocompass alignment method was close to steady situation.The combined alignment method was analyzed reasonably by the observability and the mathematical deduction.The comparison results of the numerical simulation and the experimental data test showed that the combined method had good performance in terms of estimation accuracy and consistency of the alignment results.