A novel initial alignment algorithm of SINS/GPS on stationary base with attitude measurement

Author

Zi-wei, Guo ; Ling-juan, Miao ; Jun, Shen

Author_Institution

Sch. of Autom., Beijing Inst. of Technol., Beijing, China

fYear

2011

fDate

9-11 Sept. 2011

Firstpage

2458

Lastpage

2463

Abstract

Based on the error model of SINS/GPS and viewed of the improving of the observability and the observability degree, a novel initial alignment algorithm of SINS/GPS on stationary base with attitude measurement is put forward, which uses both the velocity error and yaw error as the observational value of Kalman filter. The qualitative analysis of observability and the quantity calculation of observability degree as well as the simulation result show that the system´s observability and the observability degree is improved, the initial alignment is speeded up, the estimating error is reduced and the estimating of gyroscope bias is improved. This method has been applied in practical SINS/GPS.

Keywords

Global Positioning System; Kalman filters; attitude measurement; inertial navigation; observability; Kalman filter; SINS-GPS error model; attitude measurement; error estimation; gyroscope estimation; initial alignment algorithm; observability qualitative analysis; observability quantity calculation; stationary base; strapdown inertial navigation system-global position system error model; velocity error; yaw error; Global Positioning System; Gyroscopes; Measurement uncertainty; Observability; Silicon compounds; Simulation; Velocity measurement; SINS/GPS; initial alignment; observability analysis; stationary base;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Communications and Control (ICECC), 2011 International Conference on

Conference_Location

Ningbo

Print_ISBN

978-1-4577-0320-1

Type

conf

DOI

10.1109/ICECC.2011.6067713

Filename

6067713