A Kalman Filter for SINS Self-Alignment Based on Vector Observation.
In this paper, a self-alignment method for strapdown inertial navigation systems based on theq-method is studied. In addition, an improved method based on integrating gravitational apparent motion to form apparent velocity is designed, which can reduce the random noises of the observation vectors. For further analysis, a novel self-alignment method using a Kalman filter based on adaptive filter technology is proposed, which transforms the self-alignment procedure into an attitude estimation using the observation vectors. In the proposed method, a linear psuedo-measurement equation is adopted by employing the transfer method between the quaternion and the observation vectors. Analysis and simulation indicate that the accuracy of the self-alignment is improved. Meanwhile, to improve the convergence rate of the proposed method, a new method based on parameter recognition and a reconstruction algorithm for apparent gravitation is devised, which can reduce the influence of the random noises of the observation vectors. Simulations and turntable tests are carried out, and the results indicate that the proposed method can acquire sound alignment results with lower standard variances, and can obtain higher alignment accuracy and a faster convergence rate.
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Nanjing 210096, China. xuxiang@seu.edu.cn.|Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. xuxiang@seu.edu.cn.
Xiang
X
Xu
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Nanjing 210096, China. xxs@seu.edu.cn.|Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. xxs@seu.edu.cn.
Xiaosu
X
Xu
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Nanjing 210096, China. zhangtao22@seu.edu.cn.|Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. zhangtao22@seu.edu.cn.
Tao
T
Zhang
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Nanjing 210096, China. liyao@seu.edu.cn.|Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. liyao@seu.edu.cn.
Yao
Y
Li
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Nanjing 210096, China. tongjinwu@seu.edu.cn.|Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. tongjinwu@seu.edu.cn.
Jinwu
J
Tong
Kalman filter; parameter recognition and reconstruction; self-alignment; strapdown inertial navigation system