A generic Strapdown Inertial Navigation System (SINS) error propagation model is presented. Quaternion is used for relative attitude representation and attitude error interpretation. The resultant error propagation model is nonlinear and does not rely on small misalignment angles assumption. Based on this model, SINS algorithm is developed for en-route alignment. Global Positioning System (GPS) is used as external sensor to confine the SINS error. Unscented Kalman Filter (UKF) is used for the non linear data fusion. Numerical simulation reveals validity of the model and superior performance of UKF.
Index Terms -Unscented Kalman filter, quaternion, INS, GPS, integrated navigation system.
Celestial observations provide information about angular orientation ofaflight vehicle in inertial space, wherein the distant stars are predetermined reference points infinitely apart from the observer. No information about velocity and position of the observer in inertial space can be extracted from celestial observation alone. Attitude information obtained through celestial observations, however, may be fused with the navigation output of strapdown inertial navigation system (SINS) and the time dependent departure of SINS output due to sensors' errors from the true navigation solution thus can be significantly reduced. During the free fall trajectory accelerometers' biases can be measured and compensatedfor. A scheme for integration of celestial navigation with SINS is discussed and improvement in navigation solution achieved through numerical simulation is presented. A comparison of GPS aided and CNS aided INS is carried out.
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