title: An Improved Inertial Frame Alignment Algorithm Based on Horizontal Alignment Information for Marine SINS.
abstract: In this paper, an improved inertial frame alignment algorithm for a marine SINS under mooring conditions is proposed, which significantly improves accuracy. Since the horizontal alignment is easy to complete, and a characteristic of gravity is that its component in the horizontal plane is zero, we use a clever method to improve the conventional inertial alignment algorithm. Firstly, a large misalignment angle model and a dimensionality reduction Gauss-Hermite filter are employed to establish the fine horizontal reference frame. Based on this, the projection of the gravity in the body inertial coordinate frame can be calculated easily. Then, the initial alignment algorithm is accomplished through an inertial frame alignment algorithm. The simulation and experiment results show that the improved initial alignment algorithm performs better than the conventional inertial alignment algorithm, and meets the accuracy requirements of a medium-accuracy marine SINS.
authors.affiliation: College of Automation, Harbin Engineering University, Harbin, China. cheyanting@hrbeu.edu.cn.
authors.forename: Yanting
authors.initials: Y
authors.lastname: Che
authors.affiliation: College of Information and Communication Engineering, Harbin Engineering University, Harbin, China. wqy869087@163.com.
authors.forename: Qiuying
authors.initials: Q
authors.lastname: Wang
authors.affiliation: College of Automation, Harbin Engineering University, Harbin, China. gaow@hrbeu.edu.cn.
authors.forename: Wei
authors.initials: W
authors.lastname: Gao
authors.affiliation: College of Automation, Harbin Engineering University, Harbin, China. yufei@hrbeu.edu.cn.
authors.forename: Fei
authors.initials: F
authors.lastname: Yu
keywords: SINS; alignment; dimension reduction GHF; inertial coordinate frame