The paper presents a new method of in-flight alignment (IFA) for a strapdown inertial navigation system (SDINS) aided by a super short baseline (SSBL) system under a large initial heading error. To handle the large heading error, a new attitude error model is introduced in which attitude errors are divided into heading and levelling errors using a newly defined horizontal frame. Some navigation error dynamic models are derived from the attitude error model for indirect feedback filtering of the IFA system. A Kalman filter with position measurements is designed to estimate navigation errors as an indirect feedback filter. Simulation results show that the newly developed model works effectively for coarse alignment of a large heading error. The proposed IFA method very quickly decreases the heading error from more than 40° to about 5°.
Performance improvement of in-flight alignment for autonomous vehicle under large initial heading error
01.02.2004
6 pages
Aufsatz (Zeitschrift)
Englisch
in-flight alignment , strapdown inertial navigation system , autonomous vehicle , underwater vehicles , attitude error model , super short baseline system , heading error , inertial navigation , Kalman filters , aircraft navigation , navigation error dynamic model , error analysis , horizontal frame , position measurement , indirect feedback filtering , Kalman filter , inertial systems , aircraft instrumentation , levelling error , initial heading error , navigation error estimation
In-Flight Alignment of SDINS under Large Initial Heading Error
British Library Online Contents | 2002
|Modeling and semi-physical simulation of in-flight alignment for MIMU under large heading error
British Library Online Contents | 2008
|In-motion Alignment of a Low-cost GPS/INS under Large Heading Error
Online Contents | 2015
|