Attitude Algorithm of Gyroscope-Free Strapdown Inertial Navigation System Using Kalman Filter
Xiong Jiang,
Tao Liu,
Jie Duan
et al.
Abstract:A gyroscope-free strapdown inertial navigation system (GFSINS) solves the carrier attitude through the reasonable spatial combination of accelerometers, with a particular focus on the precision of angular velocity calculation. This paper conducts an analysis of a twelve-accelerometer configuration scheme and proposes an angular velocity fusion algorithm based on the Kalman filter. To address the sign misjudgment issue that may arise when calculating angular velocity using the extraction algorithm, a sliding wi… Show more
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