In-motion alignment plays an important role in improving the manoeuvring capability of a vehicle, and allows the initialisation of a Strapdown Inertial Navigation System (SINS) while moving. Odometer (OD) aided in-motion alignment is widely adopted owing to its fully self-contained characteristic. This paper proposes a complete in-motion alignment algorithm for a vehicle-carried SINS based on odometer aiding, in which an in-motion coarse alignment method using the integration form of the velocity update equation in the body frame to give a rough initial angle is introduced and a new measurement equation in the body frame with a Kalman filter (KF) for the in-motion fine alignment is established. The advantages of the proposed method are verified by simulation and measured data.


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    Titel :

    In-motion Alignment Algorithm for Vehicle Carried SINS Based on Odometer Aiding



    Erschienen in:

    Erscheinungsdatum :

    2017




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch



    Klassifikation :

    BKL:    55.86 Schiffsverkehr, Schifffahrt / 53.84 Ortungstechnik, Radartechnik / 42.89 Zoologie: Sonstiges / 55.54 Flugführung / 42.89 / 53.84 / 55.20 / 55.86 / 55.20 Straßenfahrzeugtechnik / 55.44 Schiffsführung / 55.54 / 55.44
    Lokalklassifikation TIB:    275/5680/7035



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