A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm

Zhu, Yeyu; Zhang, Tao; Xu, Xiang

doi:10.3390/s18010239

Cited by 9 publications

(6 citation statements)

References 17 publications

(27 reference statements)

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“…To further prove that

holds for

, the following theorems are required, which are proven in detail in [ 18 ]. □…”

Section: Stability Analysismentioning

confidence: 99%

“…In addition, the insufficient utilization of observation information is another factor leading to low alignment accuracy. To solve this problem, researchers have proposed a second kind of method, which transforms the coarse alignment problem into Wahba’s problem [ 15 , 16 , 17 , 18 , 19 , 20 ]. In [ 15 ], the Q-method is suggested to resolve the Wahba problem to achieve coarse alignment.…”

Section: Introductionmentioning

confidence: 99%

“…In [ 17 ], the observation vector is recursively processed by using the filtered quaternion estimation (QUEST) method. An Optimal-REQUEST is proposed [ 18 ], and compared to the traditional attitude determination method, the filtering gain of the proposed method is tuned autonomously; thus, the convergence rate of the attitude determination is faster than in the traditional method. In contrast to the Q-method, a new method of resolving Wahba’s problem based on eigenvalues is recommended in [ 19 ], and symbolic solutions to the corresponding characteristic polynomial are derived.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Novel Coarse Alignment Method for SINS Using Special Orthogonal Group Optimal Estimation

Pei

Yang

Zhu

et al. 2020

Sensors

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Aimed at the alignment problem of strapdown inertial navigation system (SINS) on the swing base, a novel coarse alignment method using special orthogonal group optimal estimation is proposed. There are two main contributions in this paper. First, based on the Lie group differential equation, the rotation matrix is updated directly by using error Lie algebra, which avoids the non-convexity of traditional methods and the need for non-collinear vector observation. Second is that a novel optimal estimation method is developed by using the exact error Lie algebra, which is calculated based on the physical definition of Lie algebra, as the innovation term to compensate the initial special orthogonal group in the estimation process. The asymptotic convergence of the proposed optimal estimation method is proved by Lyapunov's second law. The simulation and experimental results demonstrate that the proposed method exhibits better performance than existing methods in alignment accuracy and time, which can achieve the self-alignment of SINS on the swing base.

show abstract

“…To further prove that

holds for

, the following theorems are required, which are proven in detail in [ 18 ]. □…”

Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Novel Coarse Alignment Method for SINS Using Special Orthogonal Group Optimal Estimation

Pei

Yang

Zhu

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…Wahba’s problem is a classical problem for attitude determination based on double-vector observations [18]. References show that there are many new methods to solve the problem of the attitude determination, such as tri-axial attitude determination (TRIAD), Euler-q, QUEST, and some other improved optimization algorithms [19,20,21].…”

Section: Double-vector Observations and Regressive Quest Algorithmmentioning

confidence: 99%

Research on In-Flight Alignment for Micro Inertial Navigation System Based on Changing Acceleration using Exponential Function

Yun

Zhou

2018

Micromachines

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In order to guarantee the stable flight of a guided projectile, it is difficult to realize in-flight alignment for the micro inertial navigation system (MINS) during its short flight time. In this paper, a method based on changing acceleration using exponential function is proposed. First, double-vector observations were derived. Then the initial attitude for the guided projectiles was estimated by the regressive quaternion estimation (QUEST) algorithm. Further, the estimated errors were analyzed, and the reason for using the changing acceleration for the in-flight alignment was explained. A simulation and semi-physical experiment was performed to show the effectiveness of the proposed method. The results showed that the initial attitude error for the rolling angle was about 0.35°, the pitch angle was about 0.1° and the heading angle was about 0.6°, in which the initial shooting angle was between 15° and 55°. In future studies, the field experiments will be carried out to test the stability of the proposed in-flight alignment for guided projectiles.

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“…There are two main steps in OBA: The first step is to calculate the vector observations using velocity integration formula [18], and the second is to solve the continuous attitude determination problem [19]. There is a variety of the OBA methods in the literature with a similar methodology with the purpose of computing the attitude matrix at the start time of the initial alignment named as initial attitude matrix [20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Overcoming the settling time challenge of initial alignment of strapdown inertial navigation system by a novel solution

Jameian

Safarinejadian

2021

IET Radar Sonar & Navi

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This study investigates two fundamental challenges in the initial alignment of strapdown inertial navigation systems and presents creative solutions to overcome these challenges. The first challenge is to determine the settling time in different operating conditions such as stationary, quasistationary, in-motion, etc. The proposed solution to this challenge is to adjust the settling time of the initial alignment adaptively by evaluating the initial attitude matrix computed using the vector observations instead of allocating a fixed interval time for settling time. The second challenge is the existence of uncertainties in the vector observations, which adversely affect the initial alignment performance. The proposed solution to this challenge is to evaluate the quality of the vector observations used in the initial alignment by a real-time algorithm. Appropriate weights are assigned to vector observations instead of allocating a uniform weight to all vectors, depending on the vector observation's quality. The capability and performance of the proposed solutions are evaluated using different experimental scenarios such as three-axis rate table and vehicle tests. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm

Cited by 9 publications

References 17 publications

A Novel Coarse Alignment Method for SINS Using Special Orthogonal Group Optimal Estimation

A Novel Coarse Alignment Method for SINS Using Special Orthogonal Group Optimal Estimation

Research on In-Flight Alignment for Micro Inertial Navigation System Based on Changing Acceleration using Exponential Function

Overcoming the settling time challenge of initial alignment of strapdown inertial navigation system by a novel solution

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