A fast initial alignment method with gyro angular rate information

Wei Xi Gao; Ling Juan Miao; Mao Lin Ni

doi:10.3873/j.issn.1000-1328.2010.06.014

A fast initial alignment method with gyro angular rate information

Wei Xi Gao^*, Ling Juan Miao, Mao Lin Ni

^*Corresponding author for this work

School of Automation

Research output: Contribution to journal › Article › peer-review

18 Citations (Scopus)

Abstract

Based on the error model of SINS, a fast initial alignment method for SINS is proposed, which uses both the velocity errors and the angular rate errors as the observation of the system model. The observation equation with gyro angular rate information is derived in detail, and the qualitative analysis of observability and the quantitative calculation of observability degree are given. Compared with the method using only velocity errors as the observation, this method makes full use of the external information. As a result, the observability degree of the system is raised, and the time spent on initial alignment is shortened. The rapid reaction capability and the rapid mobility capability of the system are greatly enhanced.

Original language	English
Pages (from-to)	1596-1601
Number of pages	6
Journal	Yuhang Xuebao/Journal of Astronautics
Volume	31
Issue number	6
DOIs	https://doi.org/10.3873/j.issn.1000-1328.2010.06.014
Publication status	Published - Jun 2010

Keywords

Initial alignment
Observability analysis
Observability degree
SINS

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10.3873/j.issn.1000-1328.2010.06.014

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title = "A fast initial alignment method with gyro angular rate information",

abstract = "Based on the error model of SINS, a fast initial alignment method for SINS is proposed, which uses both the velocity errors and the angular rate errors as the observation of the system model. The observation equation with gyro angular rate information is derived in detail, and the qualitative analysis of observability and the quantitative calculation of observability degree are given. Compared with the method using only velocity errors as the observation, this method makes full use of the external information. As a result, the observability degree of the system is raised, and the time spent on initial alignment is shortened. The rapid reaction capability and the rapid mobility capability of the system are greatly enhanced.",

keywords = "Initial alignment, Observability analysis, Observability degree, SINS",

author = "Gao, {Wei Xi} and Miao, {Ling Juan} and Ni, {Mao Lin}",

year = "2010",

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doi = "10.3873/j.issn.1000-1328.2010.06.014",

language = "English",

volume = "31",

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TY - JOUR

T1 - A fast initial alignment method with gyro angular rate information

AU - Gao, Wei Xi

AU - Miao, Ling Juan

AU - Ni, Mao Lin

PY - 2010/6

Y1 - 2010/6

N2 - Based on the error model of SINS, a fast initial alignment method for SINS is proposed, which uses both the velocity errors and the angular rate errors as the observation of the system model. The observation equation with gyro angular rate information is derived in detail, and the qualitative analysis of observability and the quantitative calculation of observability degree are given. Compared with the method using only velocity errors as the observation, this method makes full use of the external information. As a result, the observability degree of the system is raised, and the time spent on initial alignment is shortened. The rapid reaction capability and the rapid mobility capability of the system are greatly enhanced.

AB - Based on the error model of SINS, a fast initial alignment method for SINS is proposed, which uses both the velocity errors and the angular rate errors as the observation of the system model. The observation equation with gyro angular rate information is derived in detail, and the qualitative analysis of observability and the quantitative calculation of observability degree are given. Compared with the method using only velocity errors as the observation, this method makes full use of the external information. As a result, the observability degree of the system is raised, and the time spent on initial alignment is shortened. The rapid reaction capability and the rapid mobility capability of the system are greatly enhanced.

KW - Initial alignment

KW - Observability analysis

KW - Observability degree

KW - SINS

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M3 - Article

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SN - 1000-1328

VL - 31

SP - 1596

EP - 1601

JO - Yuhang Xuebao/Journal of Astronautics

JF - Yuhang Xuebao/Journal of Astronautics

IS - 6

ER -

A fast initial alignment method with gyro angular rate information

Abstract

Keywords

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