Rapid Fine Strapdown INS Alignment Method under Marine Mooring Condition

Author

Gao, Wei ; Ben, Yueyang ; Zhang, Xin ; Li, Qian ; Yu, Fei

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin, China

Volume

47

Issue

4

fYear

2011

fDate

10/1/2011 12:00:00 AM

Firstpage

2887

Lastpage

2896

Abstract

In order to solve the strapdown inertial navigation system (INS) alignment problem under the marine mooring condition, the rapid strapdown INS fine alignment method is proposed. This method uses the gravity in the inertial frame to deal with the lineal and angular disturbances. Also the forward and backward processes for strapdown INS calculation and filter estimation are designed. Making use of the forward and backward processes to repeatedly process the saved inertial measurement unit (IMU) data sequence could quickly obtain the initial strapdown attitude matrix. Simulation and trial test validate the performance of the proposed rapid fine strapdown INS alignment.

Keywords

Kalman filters; attitude measurement; inertial navigation; marine safety; matrix algebra; IMU data sequence; angular disturbances; filter estimation; inertial measurement unit; initial strapdown attitude matrix; lineal disturbances; marine mooring condition; rapid fine strapdown INS alignment method; strapdown inertial navigation system; Marine technology; Mathematical model; Measurements; Navigation;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/TAES.2011.6034671

Filename

6034671