External Velocity Aided Coarse Attitude and Position Alignment for Dynamic SINS

Guo, Shiluo; Xu, Jiangning; He, Hongyang

doi:10.1109/access.2018.2812860

Cited by 10 publications

(8 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this respect, the determination of C i b 0 i 0 has been transformed into a Wahba's problem [23] with the corresponding infinite vector observations (17) and (18). Many effective approachs have been proposed for such problem.…”

Section: B Attitude and Position Coarse Alignmentmentioning

confidence: 99%

“…Yan et al [17] presented a in-motion attitude and position alignment algorithm based on inertial reference frame to diminish the gravity deflexion error for SINS/OD. On the basis of [17], Guo et al [18] further excluded the negative effect of Coriolis item and utilized a optimizational attitude estimation algorithm. Though the satisfied attitude was derived, the approximately position need further improvements.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

In-Motion Attitude and Position Alignment for Odometer-Aided SINS Based on Backtracking Scheme

et al. 2019

View full text Add to dashboard Cite

In-motion alignment of navigation-grade strapdown inertial navigation system (SINS) combined with odometer (OD) is one of the challenging issues for the land vehicle navigation, while most current in-motion alignment methods still rely on the measurements of the global positioning system or only aim at improving the attitude alignment, thus neglecting the position alignment. Thus, one of the main obstacles during the in-motion alignment for SINS/OD is to autonomously and simultaneously obtain the high-precision attitude and position within specified time. In this paper, an in-motion alignment scheme based on the backtracking scheme is presented to solve this problem. The proposed method consists of two steps. First, an improved optimization-based coarse alignment (IOBCA) is employed to obtain the attitude and position with reasonable precision, and the gravity deflexion error projection in inertial frame caused by the positioning error is diminished, which contributes to better alignment results for the subsequent process. Second, initialized with the alignment results provided by IOBCA, a backtracking-scheme-based fine alignment combined with the Kalman filter is investigated to make a further improvement in the precision of attitude and position, during which the known initial binding position and zero velocity have been utilized again. The car-mounted field experimental results illustrate that the proposed method can not only autonomously improve the precision of attitude within a short time but also simultaneously achieve the position with high precision. INDEX TERMS In-motion alignment, strapdown inertial navigation system (SINS), odometer (OD), backtracking.

show abstract

Section: B Attitude and Position Coarse Alignmentmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

In-Motion Attitude and Position Alignment for Odometer-Aided SINS Based on Backtracking Scheme

et al. 2019

View full text Add to dashboard Cite

show abstract

“…On-board equipment should continuously provide accurate information for the helmsman, such as roll, pitch, heading angles, to ensure the vessel voyage along the predetermined course. Nowadays inertial navigation system (INS) integrated with SPEED LOG is one of typical navigation methods and well applied in most surface ships and submarines [1]- [3]. In practice, due to high cost and cubage of traditional INS, it makes the system difficult to install and upgrade.…”

Section: Introductionmentioning

confidence: 99%

A Novel Method for Determination on Switch Timing Between Damping and Non-Damping Status of Strapdown Fiber Optic Gyrocompass

2020

View full text Add to dashboard Cite

It is necessary to locate the precise timing of switching into non-damping mode when the ship comes across zigzag maneuver, which helps avoid overshoot errors and maintain accuracy of ship's attitudes. In this paper, we propose a novel method to make the right decision on the damping/non-damping switch timing selection. Ship's in-motion data, collected by the gyrocompass system in advance, will first be pre-processed using wavelet denoising procedure and then treat as support vector machine (SVM) training input. Once the model is established, strapdown fiber optic gyrocompass (FOGC) can be equipped with the ability of self-judgment on when to cut off the alignment closed loops to become invulnerable and when to let it back online to remain stable by means of SVM classification schemes for switch timing recognition. Results show our method has better performance in the time of ships maneuver compared to the whole course damping network solution. Furthermore, transverse comparisons indicate our Wavelet-SVM method has better performance than BP neural network and traditional threshold method during maneuvering navigation process. INDEX TERMS Strapdown gyrocompass, alignment loops, switch timing, support vector machine, wavelet denoising.

show abstract

“…Such systems are at the forefront of navigation research and are already in use for moderate to low-precision navigation of ships, owing to their advantages of, among other things, high reliability, low cost, and capability of miniaturization. Obtaining the initial alignment that determines the initial attitude is a prerequisite for navigational computation in a SINS [1]. This initial self-alignment relies on the inertial measurement unit (IMU) itself to complete the initial alignment without the aid of external information.…”

Section: Introductionmentioning

confidence: 99%

A Self-Alignment Method of MEMS Biaxial Rotation Modulation Strapdown Compass for Marine Applications

Huang

2019

IEEE Access

View full text Add to dashboard Cite

Self-alignment of strapdown inertial navigation systems incorporating micro-electromechanical systems (MSINS) is a great challenge for marine applications. In this paper, a self-alignment method for a rotating MEMS strapdown compass is proposed with the aim of solving this problem. First, based on an analysis of biaxial rotation modulation and initial alignment of the strapdown compass, a selfalignment method is presented and verified. Second, by analyzing the effects of biaxial rotation modulation, the proposed method is improved by speeding up the rotation and reducing the stop time of the biaxial rotation mechanism to shorten the initial alignment time, which effectively suppresses the influence of MEMS noise on the initial alignment error angle. The influence of ship swinging on the initial alignment error angle is also analyzed. The efficiency of the method is verified by experiments on a swinging base. Finally, a parameter adjustment approach is presented that allows the proposed method to be used with different types of MEMS. This approach is validated by experiments. All the experimental results demonstrate the efficiency and precision of the proposed method. INDEX TERMS Biaxial rotation modulation, MEMS, self-alignment, strapdown compass. WEIQUAN HUANG received the B.S. degree in underwater acoustic electronics from the Harbin Shipbuilding Engineering Institute, in 1989, and the M.S. degree in information and signal processing and the Ph.D. degree in control theory and control engineering from Harbin Engineering University, in 1994 and 2006, respectively. He is currently a Professor with the College of Automation, Harbin Engineering University. His current research interests include underwater navigation, integrated navigation technology and new inertial devices, high-precision navigation systems, and MEMS inertial navigation systems. MENGHAO LI received the B.S. degree from the College of Automation, Harbin Engineering University, Harbin, China, in 2016, where he is currently pursuing the Ph.D. degree in control science and engineering. His current research interests include MEMS inertial navigation systems, MEMS biaxial rotation modulation strapdown inertial navigation systems, information fusion, and its application in MEMS integrated navigation systems.

show abstract

External Velocity Aided Coarse Attitude and Position Alignment for Dynamic SINS

Cited by 10 publications

References 16 publications

In-Motion Attitude and Position Alignment for Odometer-Aided SINS Based on Backtracking Scheme

In-Motion Attitude and Position Alignment for Odometer-Aided SINS Based on Backtracking Scheme

A Novel Method for Determination on Switch Timing Between Damping and Non-Damping Status of Strapdown Fiber Optic Gyrocompass

A Self-Alignment Method of MEMS Biaxial Rotation Modulation Strapdown Compass for Marine Applications

Contact Info

Product

Resources

About