Multi-objective robust initial alignment algorithm for Inertial Navigation System with multiple disturbances

2012 ◽  
Vol 21 (1) ◽  
pp. 1-6 ◽  
Author(s):  
Songyin Cao ◽  
Lei Guo
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Alignment Algorithm ◽  
Initial Alignment ◽  
Multiple Disturbances ◽  
Multi Objective

scholarly journals An Improved Strapdown Inertial Navigation System Initial Alignment Algorithm for Unmanned Vehicles

Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3297 ◽  
Author(s):  
Ya Zhang ◽  
Fei Yu ◽  
Wei Gao ◽  
Yanyan Wang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Unmanned Vehicles ◽  
Frequency Noise ◽  
Alignment Algorithm ◽  
Initial Alignment ◽  
System Nonlinearity ◽  
Strapdown Inertial Navigation

Along with the development of computer technology and informatization, the unmanned vehicle has become an important equipment in military, civil and some other fields. The navigation system is the basis and core of realizing the autonomous control and completing the task for unmanned vehicles, and the Strapdown Inertial Navigation System (SINS) is the preferred due to its autonomy and independence. The initial alignment technique is the premise and the foundation of the SINS, whose performance is susceptible to system nonlinearity and uncertainty. To improving system performance for SINS, an improved initial alignment algorithm is proposed in this manuscript. In the procedure of this presented initial alignment algorithm, the original signal of inertial sensors is denoised by utilizing the improved signal denoising method based on the Empirical Mode Decomposition (EMD) and the Extreme Learning Machine (ELM) firstly to suppress the high-frequency noise on coarse alignment. Afterwards, the accuracy and reliability of initial alignment is further enhanced by utilizing an improved Robust Huber Cubarure Kalman Filer (RHCKF) method to minimize the influence of system nonlinearity and uncertainty on the fine alignment. In addition, real tests are used to verify the availability and superiority of this proposed initial alignment algorithm.

A Rapid Initial Alignment Alogrithm Based on Strapdown Gyrocompass

2012 ◽  
Vol 532-533 ◽  
pp. 1563-1567 ◽  
Author(s):  
Si Hai Li ◽  
Gong Min Yan ◽  
Peng Xiang Yang ◽  
Yong Yuan Qin
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Alignment Algorithm ◽  
Initial Alignment ◽  
Basic Principles ◽  
Nonlinear Error ◽  
Alignment Algorithms ◽  
Navigation Computer ◽  
Large Memory

The basic principles for stabilized gyrocompass initial alignment are analyzed in platform inertial navigation system (PINS), then similar principles and initial alignment algorithms suitable for programming are proposed for strapdown inertial navigation system (SINS). The scheme of SINS gyrocompass initial alignment can be divided into four steps, including leveling alignment with header uncertainty, coarse header alignment, leveling realignment and gyrocompass alignment for header. By simplifying SINS nonlinear error model under header uncertainty, the formula of coarse header alignment is deduced. On the assumption of navigation computer having large memory and powerful computing ability, and basing on the ‘multiformity’ of SINS mathematical platform and the ability to attitude reverse control, a specific progress for SINS rapid gyrocompass alignment is introduced and designed in detail. Finally, some tests prove that the proposed alignment algorithm in this paper is effective.

An Improved Initial Alignment Method of Strap-Down Inertial Navigation System on a Swaying Base

2013 ◽  
Vol 415 ◽  
pp. 143-148
Author(s):  
Li Hua Zhu ◽  
Xiang Hong Cheng
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Alignment Algorithm ◽  
Alignment Method ◽  
Initial Alignment ◽  
Vehicle Simulation ◽  
Robust Property ◽  
Simulation Results ◽  
Lever Arm Effect ◽  
The Impact

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.

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