Initial Alignment by Attitude Estimation for Strapdown Inertial Navigation Systems

2015 ◽  
Vol 64 (3) ◽  
pp. 784-794 ◽  
Author(s):  
Lubin Chang ◽  
Jingshu Li ◽  
Shengyong Chen
Keyword(s):  
Inertial Navigation ◽  
Attitude Estimation ◽  
Navigation Systems ◽  
Initial Alignment ◽  
Inertial Navigation Systems ◽  
Strapdown Inertial Navigation

scholarly journals Improving the speed of initial alignment for marine strapdown inertial navigation systems using heading control signal feedback in extended Kalman filter

2020 ◽  
Vol 17 (1) ◽  
pp. 172988141989484 ◽  
Author(s):  
Hossein Rahimi ◽  
Amir Ali Nikkhah
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation ◽  
Control Signal ◽  
Navigation Systems ◽  
Alignment Method ◽  
Initial Alignment ◽  
Inertial Navigation Systems ◽  
Strapdown Inertial Navigation

In this article, a method was proposed for strapdown inertial navigation systems initial alignment by drawing on the conventional alignment method for stable platform navigation systems. When a vessel is moored, the strapdown inertial navigation system contributes to the disturbing motion. Moreover, the conventional methods of accurate alignment fail to succeed within an acceptable period of time due to the slow convergence of the heading channel in the mooring conditions. In this work, the heading was adjusted using the velocity bias resulting from the component of the angular velocity of the Earth on the east channel on the strapdown inertial navigation systems analytic platform plane to accelerate convergence in the initial alignment of navigation system. To this end, an extended Kalman filter with control signal feedback was used. The heading error was calculated using the north channel residual velocity of the strapdown inertial navigation systems analytic platform plane and was entered into an extended Kalman filter. Simulation and turntable experimental tests were indicative of the ability of the proposed alignment method to increase heading converge speed in mooring conditions.

Initial Alignment of a Moving Inertial Navigation System

1960 ◽  
Vol 13 (3) ◽  
pp. 301-315
Author(s):  
Richard B. Seeley ◽  
Roy Dale Cole
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Local Level ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Velocity Measurements ◽  
Initial Alignment ◽  
Inertial Navigation Systems ◽  
Error Sources ◽  
China Lake

This paper describes and discusses some of the techniques by which a moving inertial platform may be aligned by using external velocity measurements and also presents some of the major problems and error sources affecting such alignment. It is based upon the results of a 3-year study, of inertial and doppler-inertial navigation at the Naval Ordnance Test Station, China Lake, California, and, in general, applies to inertial navigation systems which erect to either the local level or the mass-attraction vertical. Although rudimentary derivations are made of the alignment techniques, the paper is largely nonmathematical for ease of reading. Emphasis is placed upon the major errors affecting the alignment. This paper describes and discusses some of the techniques by which a moving inertial platform may be aligned by using external velocity measurements and also presents some of the major problems and error sources affecting such alignment. It is based upon the results of a 3-year study, of inertial and doppler-inertial navigation at the Naval Ordnance Test Station, China Lake, California, and, in general, applies to inertial navigation systems which erect to either the local level or the mass-attraction vertical. Although rudimentary derivations are made of the alignment techniques, the paper is largely nonmathematical for ease of reading. Emphasis is placed upon the major errors affecting the alignment.

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