initial velocity errors;
average operation for observation vectors;
in-motion coarse alignment;
SINS;
GPS;
NAVIGATION;
D O I:
10.3390/s23073662
中图分类号:
O65 [分析化学];
学科分类号:
070302 ;
081704 ;
摘要:
The integrated system with the strapdown inertial navigation system (SINS) and the global positioning system (GPS) is the most popular navigation mode. It has been used in many navigation fields. Before the integrated system works properly, it must determine the initial attitude for SINS. In SINS/GPS-integrated systems, the navigational velocity can be used to carry out the initial alignment when the system is installed in the in-motion vehicle. However, the initial velocity errors are not considered in the current popular in-motion alignment methods for SINS/GPS integration. It is well-known that the initial velocity errors must exist when the initial velocity is obtained from the GPS outputs. In this paper, an improved method was proposed to solve this problem. By analyzing the original observation vectors in the in-motion coarse alignment method, an average operation was used to construct the intermediate vectors, and the new observation vector can be calculated by subtracting the intermediate vector from the original observation vector. Then, the initial velocity errors can be eliminated from the newly constructed observation vector. Thus, the interferences of the initial velocity errors for the initial alignment process can be suppressed. The simulation and field tests are designed to verify the performance of the proposed method. The tests results showed that the proposed method can obtain the higher accurate results than the current methods when the initial velocity is considered. Additionally, the results of the proposed method were similar to the current methods when the initial velocity errors were not considered. This shows that the initial velocity errors were eliminated effectively by the proposed method, and the alignment accuracy were not decreased.
机构:
Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R ChinaNanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China
Xu, Xiang
Zheng, Xuehe
论文数: 0引用数: 0
h-index: 0
机构:
Second Acad China Aerosp Sci & Ind Corp Ltd, Beijing 100854, Peoples R ChinaNanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China
Zheng, Xuehe
Li, Yao
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h-index: 0
机构:
Southeast Univ, Key Lab Micro Inertial Instrument & Adv Nav Techn, Minist Educ, Nanjing 210096, Peoples R ChinaNanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China
Li, Yao
Yao, Yiqing
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h-index: 0
机构:
Southeast Univ, Key Lab Micro Inertial Instrument & Adv Nav Techn, Minist Educ, Nanjing 210096, Peoples R ChinaNanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China
Yao, Yiqing
Zhou, Hui
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h-index: 0
机构:
Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R ChinaNanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China
Zhou, Hui
Zhu, Lihua
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h-index: 0
机构:
Nanjing Univ Sci & Technol, Sch Mech Engn, Nanjing 210094, Peoples R ChinaNanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China
机构:
Xi An Jiao Tong Univ, Sch Cyber Sci & Engn, Xian 710049, Peoples R China
Sichuan Digital Econ Ind Dev Res Inst, Chengdu 610036, Peoples R ChinaXi An Jiao Tong Univ, Sch Cyber Sci & Engn, Xian 710049, Peoples R China
Zhou, Xiaoren
Zhang, Meng
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h-index: 0
机构:
Xi An Jiao Tong Univ, Sch Cyber Sci & Engn, Xian 710049, Peoples R China
Sichuan Digital Econ Ind Dev Res Inst, Chengdu 610036, Peoples R ChinaXi An Jiao Tong Univ, Sch Cyber Sci & Engn, Xian 710049, Peoples R China
Zhang, Meng
Hu, Jianchen
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h-index: 0
机构:
Xi An Jiao Tong Univ, Sch Automat Sci & Engn, Xian 710049, Peoples R ChinaXi An Jiao Tong Univ, Sch Cyber Sci & Engn, Xian 710049, Peoples R China
Hu, Jianchen
Li, Lin
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h-index: 0
机构:
Xian Technol Univ, Sch Elect Informat Engn, Xian 710021, Peoples R ChinaXi An Jiao Tong Univ, Sch Cyber Sci & Engn, Xian 710049, Peoples R China
Li, Lin
Guan, Xiaohong
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, Sch Automat Sci & Engn, Xian 710049, Peoples R ChinaXi An Jiao Tong Univ, Sch Cyber Sci & Engn, Xian 710049, Peoples R China
机构:
China Univ Min & Technol, Dept Sch Mechatron Engn, Xuzhou 221116, Jiangsu, Peoples R ChinaChina Univ Min & Technol, Dept Sch Mechatron Engn, Xuzhou 221116, Jiangsu, Peoples R China
Chen, Yuming
Li, Wei
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机构:
China Univ Min & Technol, Dept Sch Mechatron Engn, Xuzhou 221116, Jiangsu, Peoples R ChinaChina Univ Min & Technol, Dept Sch Mechatron Engn, Xuzhou 221116, Jiangsu, Peoples R China
Li, Wei
Wang, Yuqiao
论文数: 0引用数: 0
h-index: 0
机构:
China Univ Min & Technol, Dept Sch Mechatron Engn, Xuzhou 221116, Jiangsu, Peoples R ChinaChina Univ Min & Technol, Dept Sch Mechatron Engn, Xuzhou 221116, Jiangsu, Peoples R China