Application of Adaptive Kalman Filter Technique in Initial Alignment of Single-Axial Rotation Strap-Down Inertial Navigation System

Abstract

In order to improve the accuracy of initial alignment which determines the accuracy of navigation, a Sage-Husa adaptive kalman filter algorithm is applied to SINS initial alignment of single-axis rotation system. The simulation result further shows that in the case of inaccurate statistical property of noise, the estimation accuracy of Sage-Husa adaptive kalman filter is better than the conventional kalman filter.

Self-calibration of gyro asymmetry for single-axis forward–reverse rotating inertial navigation system under arbitrary attitude

“…The rotation modulation technique is a self-compensating method which makes the IMU rotate regularly to compensate for the device error [6,7]. For a rotational navigation system, a gimble is an essential piece of equipment that is fixed upon the craft to provide the IMU with corresponding rotation to compensate for the device errors.…”

“…However, errors caused by the inertial device can be eliminated by rotating the IMU appropriately. According to the number of rotation axes in the body frame, the rotational INS can be divided into single-axis, dual-axis and tri-axis rotational navigation systems [6,10,11]. Singleaxis rotational systems are widely used in application.…”