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Research on initial alignment for Large Azimuth Misalignment Angle with SageHusa Adaptive Filtering

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Research on Initial Alignment for Large Azimuth Misalignment...

第25届中国控制与决策会议

作者： Cheng Zijian He Xiaofei Jiang Huan Li Dehui Beijing Aerospace Times Optical-electronic Technology Co. Ltd

ISBN: (纸本)9781467355339

The azimuth was often a large angle because navigation accuracy of fiber-optic inertial navigation system is not high, and the filtering equations of initial alignment are non-linear. In order to improve the initial alignment accuracy of nonlinear models, a improved Sageusa adaptive Kalman filtering method is put forward , and applied to initial alignment of fiber-optic inertial navigation system. This paper establishes initial alignment nonlinear model of large azimuth misalignment angle, contributes the system noise statistics estimators, and uses improved Sageusa adaptive Kalman filtering to simulate for nonlinear error equations. The simulation results show that the improved Sageusa adaptive Kalman filtering could deal with nonlinear problems, improve the accuracy of initial alignment. Azimuth misalignment angle error can converge 13.353’ better than 48.539’ of EKF.

关键词： fiber-optic initial navigation system initial alignment SageHusa adaptive kalman filter nonlinear

A fast and accurate initial alignment method for strapdown inertial navigation system on stationary base

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控制理论与应用（英文版） 2005年第2期3卷 145-149页

作者： Xinlong WANG Gongxun SHEN School of Astronautics Beijing University of Aeronautics and AstronauticsBeijing 100083 China

In this work,a fast and accurate stationary alignment method for strapdown inertial navigation system （SINS） is proposed. It has been demonstrated that the stationary alignment of SINS can be improved by employing the multiposition technique,but the alignment time of the azimuth error is relatively longer. Over here, the two-position alignment principle is presented. On the basis of this SINS error model, a fast estimation algorithm of the azimuth error for the initial alignment of SINS on stationary base is derived fully from the horizontal velocity outputs and the output rates, and the novel azimuth error estimation algorithm is used for the two-position alignment. Consequently, the speed and accuracy of the SINS＇ s initial alignment is enhanced greatly. The computer simulation results illustrate the efficiency of this alignment method.

关键词： Strapdown inertial navigation system （SINS） initial alignment Kalman filter Observability

initial alignment of Inertial Navigation System based on a predictive iterated Kalman filter

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Initial alignment of Inertial Navigation System based on a p...

第37届中国控制会议

作者： Guanghao CHENG Songyin CAO Lei GUO Wenhua CHEN Department of Automation College of Information EngineeringYangzhou University National Key Laboratory on Aircraft Control Technology School of Instrumentation Science and Opto-Electronics EngineeringBeihang University Department of Aeronautical and Automotive Engineering Loughborough University

Inertial navigation systems（INSs） are widely used in practical applications. This paper considers the problem of initial alignment for an inertial navigation system. As the modeling error of an INS is difficult to be measured accurately, it will decrease the accuracy of the initial alignment. In this paper, a predictive iterated Kalman filter（PIKF） is proposed for a class of INSs with the modeling error and Gaussian noise. Firstly, the modeling error is estimated by a predictive filter. Then, in order to reduce the error between the one step prediction of Kalman filter and the true value, a new filtering method combining a predictive filter with an iterative Kalman filter is used to improve the alignment accuracy. Finally, simulations for the stationary alignment of an INS are given to show the efficiency of the proposed approach.

关键词： Inertial Navigation System initial alignment Predictive filter Kalman filter Iterative filter

initial alignment Method for Rotating Strapdown Inertial Navigation System Based on Fuzzy Adaptive Kalman Filter

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Initial Alignment Method for Rotating Strapdown Inertial Nav...

第40届中国控制会议

作者： Pei Qi Guanyu Li Weixing Qian Han Yang Yuhao Ma Diyu Hu Haotian Ji School of Electrical and Automation Engineering Nanjing Normal University

The rotating strapdown inertial navigation system（RSINS） has been studied on the basis of traditional system structure.The gyroscopes and accelerometers are installed on the rotating base,thus their non-stochastic errors could be eliminated by the integral calculation in strapdown navigation algorithm.Considering the structural characteristics of the RSINS,a novel initial alignment method based on fuzzy adaptive Kalman filter algorithm is proposed,which can rapidly estimate the platform misalignment errors.In this paper,the error mathematical model of the navigation system is established,according to which the state equations and observation equations are derived.The verifications based on fuzzy adaptive Kalman filter are given via digital simulation.Finally,based on a certain type of IMU with fiber optic gyroscopes（FOGs） and Micro-Electro-Mechanical System（MEMS） accelerometers,the algorithm performance of the practical navigation system is further verified through a rotating experiment on a high-precision rotating platform.The results show that,the proposed alignment method has comparatively high alignment performance for low and medium precision FOG RSINS,thus having certain engineering application value in aviation-related field.

关键词： RSINS initial alignment Fuzzy adaptive Kalman filter FOG MEMS accelerometer

initial alignment of SINS Using Wavelet De-noising Method for Aircraft Navigation

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Initial Alignment of SINS Using Wavelet De-noising Method fo...

第三届中国卫星导航学术年会

作者： Muhammad Ilyas Beihang University （BUAA）

The estimation of the initial orientation between the body frame and navigation frame for strapdown inertial navigation system （SINS） is known as the initial alignment.The error in the initial attitude determination is one of the most crucial sources of error for integration of accelerometer output which is used to obtain the velocity and position of vehicle.Estimation of the initial attitude angles accurately is the guarantee of precise determination of the position,velocity and attitude of moving platform.The coarse alignment is performed before the fine alignment.The convergence time of fine alignment is reduced if the coarse alignment estimation is better prior to fine alignment.The required inertial signals （accelerometer specific force and gyro rates） are buried in high frequency measurement noise.In this paper,the wavelet de-noising method is proposed to eliminate the high frequency noise due to vibration and other disturbances when the aircraft engine is power on,from inertial sensor measurements before using for initial alignment.The proposed method is tested using real measurements of navigation grade SINS.It has been observed that the accuracy of initial alignment and inertial navigation can be improved through the proposed method.

关键词： SINS initial alignment Wavelet De-noising Kalman Filter

An In-Motion initial alignment Algorithm for SINS Using Adaptive Lie Group Filter

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An In-Motion Initial Alignment Algorithm for SINS Using Adap...

第37届中国控制会议

作者： Hao Xu Fujun Pei Ning Jiang Faculty of Information Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System

In this paper, an in-motion initial alignment algorithm based on Lie group is proposed, which effectively solves the non-uniqueness of the unit-quaternion attitude description and the nonlinear problem when using unitquaternion for state estimation. The algorithm divides the attitude matrix into three successive special orthogonal matrices according to the property of the rotation on Lie group description and the basic principle of inertial navigation, and isolates the angular velocity and linear velocity of the carrier under dynamic conditions. Based on the mapping relation between Lie group and Lie algebra and the optimal estimation principle, and the uncertainty of measurement noise in modeling is analyzed, an adaptive Lie group filter method is proposed to estimate the initial inertial matrix directly. It can be seen from the experimental results that compare with the unit quaternion algorithm proposed algorithm has improved the alignment accuracy and stability. This method is an excellent situation to the SINS initial alignment in-motion.

关键词： strapdown inertial navigation initial alignment Lie group filter innovation adaptive

Study of Independent initial alignment Based on Gyroscope Free Strapdown Inertial Navigation System

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Study of Independent Initial Alignment Based on Gyroscope Fr...

2010 Chinese Control and Decision Conference

作者： Zhen Shi,Zijian Cheng,Jie Yang Harbin Engineering University,Harbin 150001,China

＜正＞Conventional strapdown inertial navigation system is usually measured angular velocity with gyroscope and acceleration measuring a force signal with accelerometer for the initial alignment.GFSINS uses accelerometers that use the output from the ratio of force to solve the angular velocity instead of gyroscopes for the initial alignment.Based on a nine-accelerometer configuration and use of logarithmic algorithms give the solution of results of the acceleration and angular velocity,and analyze the principle of the initial alignment.In the static base,we analyze the initial alignment issues of GFSINS,use the kalman filter to reduce the accumulation of errors,and derive a kalman filter state equation and the prediction equation,at the same time do some simulations for the initial alignment.

关键词： GFSINS initial alignment Logarithmic Algorithm Angular Velocity Kalman Filter

Anti-interference self-alignment algorithm by attitude optimization estimation for SINS on a rocking base

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Journal of Systems Engineering and Electronics 2023年第5期34卷 1333-1342页

作者： XUE Haijian WANG Tao CAI Xinghui WANG Jintao LIU Fei High-Tech Institute of Xi’an Xi’an 710025China Military Representative Office of Rocket Army Equipment Department Qingdao 266071China

The performance of a strapdown inertial navigation system(SINS)largely depends on the accuracy and rapidness of the initial alignment.A novel anti-interference self-alignment algorithm by attitude optimization estimation for SINS on a rocking base is presented in this paper.The algorithm transforms the initial alignment into the initial attitude determination problem by using infinite vector observations to remove the angular motions,the SINS alignment is heuristically established as an optimiza-tion problem of finding the minimum eigenvector.In order to further improve the alignment precision,an adaptive recursive weighted least squares(ARWLS)curve fitting algorithm is used to fit the translational motion interference-contaminated reference vectors according to their time domain characteristics.Simulation studies and experimental results favorably demonstrate its rapidness,accuracy and robustness.

关键词： strapdown inertial navigation system(SINS) initial alignment anti-interference rocking base adaptive recursive weighted least squares(ARWLS)

Novel method of improving the alignment accuracy of SINS on revolving mounting base

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Journal of Systems Engineering and Electronics 2009年第5期20卷 1052-1057页

作者： Qian Weixing Liu Jianye Zhao Wei Zhu Yanhua Navigation Research Center Nanjing Univ. of Aeronautics ~z Astronautics Nanjing 210016 P. R. China

In the process of initial alignment for a strapdown inertial navigation system （SINS） on a stationary base, the east gyro drift rate is an important factor affecting the alignment accuracy of the azimuth misalignment angle. When the Kalman filtering algorithm is adopted in initial alignment, it yields a constant error in the estimation of the azimuth misalignment angle because the east gyro drift rate cannot be estimated. To improve the alignment accuracy, a novel alignment method on revolving mounting base is proposed. The Kalman filtering algorithm of extending the measured values is studied. The theory of spectral condition number is utilized to analyze the degrees of observability of states. Simulation results show that the estimation accuracy of the azimuth misalignment angle is greatly improved through revolving mounting base, and the proposed method is efficient in initial alignment for a medium accurate SINS.

关键词： inertial navigation initial alignment observability analysis Kalman filter spectral condition number.