Influence of latitude in coarse self-alignment of strapdown inertial navigation systems

Silva, Felipe O.; Hemerly, Elder Moreira; Filho, Waldemar C. Leite

doi:10.1109/plans.2014.6851496

Cited by 11 publications

(9 citation statements)

References 5 publications

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“…2. Besides, the transformation of the Earth rate vector measured by the three-axis gyroscope from body frame to the new orthogonal frame is described by (26) and (27).…”

Section: Sins Self-alignment Methods With No Local Latitude (Gd2)mentioning

confidence: 99%

“…Silva et al in [9] show that the attitude expression of the AEA method is equivalent to that of the TRIAD method before orthogonalization, and the horizontal component is the same as the O-TRIAD method. Moreover, Silva et al propose an improved O-TRIAD method called orthogonalnormal-TRIAD (ON-TRIAD) in [9] and [27], which also employs the Euler angle to represent the attitude. Additionally, ON-TRIAD can complete the stationary alignment without using the local latitude information.…”

Section: Introductionmentioning

confidence: 99%

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Gradient Descent Optimization-Based SINS Self-Alignment Method and Error Analysis

Chang

Zhang

2021

IEEE Access

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In this paper, the self-alignment for stationary strapdown inertial navigation system (SINS) is formulated as an optimization problem, and two gradient descent optimization-based SINS self-alignment methods (GD1 and GD2) are proposed. The highlight lies in that two quaternion-based objective functions are firstly formulated to solve the stationary SINS self-alignment problem. Different from conventional initial alignment methods, we firstly construct a quaternion-based objective function for stationary SINS using gravity, Earth rate and local latitude information in GD1, and employs gradient descent method to achieve the minimum of the objective function. Secondly, we further improve the quaternion-based objective function in GD2 by using the measurements from IMU to represent the Earth rate instead of using the local latitude directly. Thus, GD2 method is more competent for SINS self-alignment when the local latitude information is not available. In addition, we also analyze the bias errors of accelerometer and gyroscope and the quaternion normality error for GD1 and GD2 method respectively. Moreover, based on the analysis results, a scale factor is also introduced to reduce the alignment errors of GD1 caused by gyroscope biases. Simulation and static experiment are implemented to test the performances of GD1 and GD2 method, and the results verify the accuracy and speed of the proposed methods.

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“…2. Besides, the transformation of the Earth rate vector measured by the three-axis gyroscope from body frame to the new orthogonal frame is described by (26) and (27).…”

Section: Sins Self-alignment Methods With No Local Latitude (Gd2)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Gradient Descent Optimization-Based SINS Self-Alignment Method and Error Analysis

Chang

Zhang

2021

IEEE Access

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“…The accurate location information especially geographic latitude is a crucial prerequisite for the existing SINS initial alignment methods. Without geographic latitude, even an SINS can not work and provide navigation solutions, which limits some applications of SINS [4]. At present, the positioning information is obtained by GNSS for self-alignment of INS.…”

Section: Introductionmentioning

confidence: 99%

Latitude Determination and Error Analysis for Stationary SINS in Unknow-Position Condition

Wang

Yang

Chen

et al. 2020

Sensors

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The initial geographic latitude information is the key to the self-alignment of the strapdown inertial navigation system (SINS), but how to determine the latitude when the latitude cannot be obtained directly or in a short time? The latitude determination (LD) methods are introduced, including magnitude method, geometric method, and analytical methods 1 and 2, to solve this situation only by the output of the SINS itself. Simulation and experimental test results validate the efficiency of these LD methods. In order to improve the accuracy of the LD, the error of the LD method is derived through comparative analysis. Based on the relationship between LD error and inertial measurement unit (IMU) bias. Partial bias estimation method is introduced and executed during latitude determination. After compensating the estimated IMU bias, the accuracy of the LD will be further improved. Latitude errors are also affected by the latitude where SINS is located. Comprehensive simulation and experimental tests verify the effectiveness of the method. The IMU determined latitude can not only be used to achieve the self-alignment of the SINS, but also to correct the navigation latitude of the long-term SINS, thereby improving the autonomy and positioning accuracy of the navigation system.

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“…Обычно процесс начальной выставки разделяют на грубую и точную выставки. Грубая выставка состоит из определения вертикали (аналитическое горизонтирование) и определения азимута (аналитическое гирокомпасирование) [3][4][5][6][7][8]. Для горизонтирования используются показания акселерометров, а для гирокомпасированияпоказания акселерометров и гироскопов.…”

Section: Introductionunclassified

Initial Alignment of the Attitude and Heading Reference System

Avrutov¹,

Buhaiov²,

Meleshko³

2018

Nauk. Visti KPI

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Проблематика. При выставке бесплатформенных инерциальных навигационных систем основными проблемами являются точность и время выставки. В статье обсуждается вопрос точности выставки малогабаритной бескарданной курсовертикали, а именно точность режима гирокомпасирования. Цель исследования. Разработка математической модели погрешности режима гирокомпасирования. Методика реализации. Для разработки математической модели погрешности режима гирокомпасирования на основе выходных сигналов акселерометров и гироскопов получена матрица направляющих косинусов. С использованием элементов матрицы направляющих косинусов методом варьирования получена полная математическая модель погрешности гирокомпасирования, которая зависит от дрейфов гироскопов, погрешностей акселерометров и погрешности определения широты места. Результаты исследования. Главным результатом исследования является вывод полной формулы погрешности гирокомпасирования. Выводы. Наибольшее влияние на погрешность гирокомпасирования оказывает дрейф гироскопов. Поэтому для повышения точности выставки курсовертикали необходимо использовать более точные гироскопы. Ключевые слова: гироскоп; акселерометр; выставка в горизонте; курсовертикаль; инерционный измерительный модуль.

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Influence of latitude in coarse self-alignment of strapdown inertial navigation systems

Cited by 11 publications

References 5 publications

Gradient Descent Optimization-Based SINS Self-Alignment Method and Error Analysis

Gradient Descent Optimization-Based SINS Self-Alignment Method and Error Analysis

Latitude Determination and Error Analysis for Stationary SINS in Unknow-Position Condition

Initial Alignment of the Attitude and Heading Reference System

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