In-Motion Alignment for Doppler Velocity Log-Aided SINS Based on Initial Velocity Error Estimation

Tan, Caiming; Wei, Guo; Gao, Chang; Gao, Xiang

doi:10.1109/tim.2020.2980592

Cited by 13 publications

(5 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…After obtaining the parameters X 1 , X 2 and X 3 , substitute them into (40) to get α vc without initial velocity error. Then the attitude matrix C n b (0) can be obtained from (32).…”

Section: Self-alignment Methods Based On Initial Velocity Compensationmentioning

confidence: 99%

“…However, the method is not effective for low-frequency disturbance, and it does not consider the influence of initial velocity error on self-alignment. Some researchers proposed methods for estimating initial velocity, but these methods have not been used for the self-alignment of RINS [31][32][33]. Tan et al [31] estimated the initial velocity of linear motion by the least square method, but the proposed method is only suitable for self-alignment methods based on gravity vectors, and the realtime performance is not satisfactory.…”

Section: Introductionmentioning

confidence: 99%

“…Tan et al [31] estimated the initial velocity of linear motion by the least square method, but the proposed method is only suitable for self-alignment methods based on gravity vectors, and the realtime performance is not satisfactory. Tan et al [32] improved the cost function to obtain alignment results that suppress the initial velocity error, but their method needs to calculate the average value of all vectors, so there is still room for improvement in the accuracy and speed.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Anti-disturbance self-alignment method for dual-axis rotational inertial navigation system under marine mooring conditions

Lin,

Miao,

Zhou

2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

Under the marine mooring conditions, the inertial navigation system is often disturbed by angular and linear motions, and it is difficult to perform self-alignment with high accuracy. To solve this problem, an anti-disturbance self-alignment method for dual-axis rotational inertial navigation system is proposed. The method transforms the self-alignment problem into an attitude matrix solving problem, so as to deal with the disturbance of angular motion. By analyzing the relationship between the amount of measurement data and the accuracy of self-alignment, the optimal integration time is designed and a partial integral algorithm is proposed. Furthermore, the influence of initial velocity error on self-alignment under linear motion disturbance conditions is analyzed, and an initial velocity compensation method is proposed. Experimental results show that high-accuracy self-alignment can be achieved using the proposed method under the joint disturbance of angular and linear motions.

show abstract

“…After obtaining the parameters X 1 , X 2 and X 3 , substitute them into (40) to get α vc without initial velocity error. Then the attitude matrix C n b (0) can be obtained from (32).…”

Section: Self-alignment Methods Based On Initial Velocity Compensationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Anti-disturbance self-alignment method for dual-axis rotational inertial navigation system under marine mooring conditions

Lin,

Miao,

Zhou

2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

“…However, in bad weather such as rain, snow, and ice, the vehicle is prone to skidding or sliding during movement, which will cause the odometer error to increase rapidly and then seriously affect the positioning accuracy of the integrated navigation system. Doppler radar measures the velocity of vehicles through the Doppler effect, with the advantages of high accuracy, strong autonomy, and anti-interference; in particular, its velocity measurement accuracy is not affected by vehicle skidding and sliding [10][11][12]. Zhou built an SINS/Doppler radar integrated navigation system, which greatly improved the positioning accuracy and kept the positioning error within 20 m throughout the 2 h navigation [11].…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant SINS/Doppler Radar/Odometer Integrated Navigation Method Based on Two-Stage Fault Detection Structure

Yang,

Liu,

Xue

et al. 2023

Entropy

View full text Add to dashboard Cite

To improve the reliability of strapdown inertial navigation system (SINS)/Doppler radar/odometer integrated navigation system, the federated Kalman filter with two-stage fault detection structure is designed, and a fault-tolerant SINS/Doppler radar/odometer integrated navigation method is proposed. Firstly, the pre-fault detection module sets before the local filter, and the residual chi-square test in the carrier coordinate system is selected to detect the abrupt faults of Doppler radar and odometer. Then, the secondary-fault detection module emplaces between the local filter and the main filter, and the sequential probability ratio test (SPRT) is selected to further detect the ramp faults that are difficult to detect by the residual chi-square test. To address the limitation of the SPRT in accurately determining the end time of faults, an improved SPRT is proposed. The improved SPRT reduces the influence of historical fault on the fault statistics by introducing forgetting factors to improve its sensitivity to the fault end. The simulation experiment indicates that the proposed method can quickly detect and isolate abrupt and ramp faults, and promptly restore normal operation of the integrated navigation system after the fault ends, effectively improving the fault tolerance and reliability of the integrated navigation system.

show abstract

“…However, its availability and reliability are seriously affected by jamming, blocking and spoofing of the GPS signals. In response to this problem, odometers [18] or Doppler velocity log (DVL) [19][20][21][22][23] aided the in-motion alignment was proposed by many scholars. For these velocity-aided in-motion alignment conditions, if the geographic latitude is not available, the attitude cannot be determined.…”

Section: Introductionmentioning

confidence: 99%

In-Motion Alignment Method of SINS Based on Improved Kalman Filter under Geographic Latitude Uncertainty

Sun

Yue

2022

Remote Sensing

View full text Add to dashboard Cite

To realize the in-motion alignment of the strapdown inertial navigation system (SINS) under the geographic latitude uncertainty, we propose a latitude estimation and in-motion alignment method based on the integral dynamic window and polynomial fitting (IDW-PF) and improved Kalman filter (IKF). First, the integral dynamic window (IDW) is designed to smooth out the high-frequency line motion interference and accelerometer noise. Second, the specific force integral is performed for a cubic polynomial fitting (PF) with time as an independent variable to further suppress the line motion interference. Simultaneously, the latitude is estimated according to the geometric relationship between the angle of the gravitational acceleration vectors at different moments and the latitude. Finally, the IKF based on the multi-fading factor is designed for the in-motion alignment of SINS. A simulation experiment is conducted to verify the proposed latitude estimation and in-motion alignment method. The results indicate that the latitude can be estimated well by the method based on the IDW-PF; the mean and standard deviation of the estimated latitude can achieve −0.016° and 0.013° within 300 s. The trapezoidal maneuvering path is optimal when IKF is used, the pitch error is 0.0002°, the roll error is 0.0009° and the heading error is −0.0047° after the alignment ends at 900 s.

show abstract

In-Motion Alignment for Doppler Velocity Log-Aided SINS Based on Initial Velocity Error Estimation

Cited by 13 publications

References 26 publications

Anti-disturbance self-alignment method for dual-axis rotational inertial navigation system under marine mooring conditions

Anti-disturbance self-alignment method for dual-axis rotational inertial navigation system under marine mooring conditions

Fault-Tolerant SINS/Doppler Radar/Odometer Integrated Navigation Method Based on Two-Stage Fault Detection Structure

In-Motion Alignment Method of SINS Based on Improved Kalman Filter under Geographic Latitude Uncertainty

Contact Info

Product

Resources

About