title: An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS).
abstract: In this paper, an innovative inertial navigation system (INS) mechanization and the associated Kalman filter (KF) are developed to implement a fine alignment for the strapdown INS (SINS) on stationary base. The improved mechanization is established in the pseudo-geographic frame, which is rebuilt based on the initial position. The new mechanization eliminates the effects of linear movement errors on the heading by decoupling. Compared with the traditional local-level mechanization, it has more advantages. The proposed algorithm requires lower coarse alignment accuracy in both the open-loop and closed-loop KFs and hence can improve the system reliability and decrease the total alignment time. Moreover, for the closed-loop KF, it can decrease oscillation caused by the system errors and improve the closed-loop system stability. In addition, the proposed algorithm can also be applied to polar alignment. The performance of the proposed algorithm is verified by both simulations and experiments and the results exhibit the superior performance of the proposed approach.
authors.affiliation: College of Automation, Harbin Engineering University, Harbin 150001, China. liumeng_0304@163.com.
authors.forename: Meng
authors.initials: M
authors.lastname: Liu
authors.affiliation: College of Automation, Harbin Engineering University, Harbin 150001, China. gaoyanbin@hrbeu.edu.cn.
authors.forename: Yanbin
authors.initials: Y
authors.lastname: Gao
authors.affiliation: College of Automation, Harbin Engineering University, Harbin 150001, China. lgc_67@hrbeu.edu.cn.
authors.forename: Guangchun
authors.initials: G
authors.lastname: Li
authors.affiliation: College of Automation, Harbin Engineering University, Harbin 150001, China. guangxingxing1008@163.com.
authors.forename: Xingxing
authors.initials: X
authors.lastname: Guang
authors.affiliation: College of Automation, Harbin Engineering University, Harbin 150001, China. lishutongst@163.com.
authors.forename: Shutong
authors.initials: S
authors.lastname: Li
keywords: Kalman filter; decoupling; polar alignment; pseudo-frame