Reduced-order Kalman filter for RLG SINS initial alignment

Shaolin Lü; Ling Xie; Jiabin Chen

doi:10.1109/CCDC.2008.4598016

Reduced-order Kalman filter for RLG SINS initial alignment

Shaolin Lü^*, Ling Xie, Jiabin Chen

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

A closed-loop reduced-order Kalman filter is utilized to perform initial alignment of Ring Laser Gyroscope Strapdown Inertial Navigation System. The observability of the system with different measurement models were analyzed in detail. Navigation algorimm in alignment is modified to feedback continuously for the closed-loop system. The feasibility of this solution is verified through simulation and experiments. It is shown that the initial covariance of Kalman filter can influence the speed of initial alignment significantly because the covariance can not reflect the true stute of the uzimudi very well. At the beginning of alignment, Kalman filter must make a very conservative guess at the initial value of azimuth angle. If not, initial alignment will be uccomplished at u low speed.

Original language	English
Title of host publication	Chinese Control and Decision Conference, 2008, CCDC 2008
Pages	3675-3680
Number of pages	6
DOIs	https://doi.org/10.1109/CCDC.2008.4598016
Publication status	Published - 2008
Event	Chinese Control and Decision Conference 2008, CCDC 2008 - Yantai, Shandong, China Duration: 2 Jul 2008 → 4 Jul 2008

Publication series

Name	Chinese Control and Decision Conference, 2008, CCDC 2008

Conference

Conference	Chinese Control and Decision Conference 2008, CCDC 2008
Country/Territory	China
City	Yantai, Shandong
Period	2/07/08 → 4/07/08

Keywords

Initial alignment
Kalman filter
Reducedorder Kalman filter
Ring laser gyroscope
Strupdown inertial navigation system

Access to Document

10.1109/CCDC.2008.4598016

Cite this

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title = "Reduced-order Kalman filter for RLG SINS initial alignment",

abstract = "A closed-loop reduced-order Kalman filter is utilized to perform initial alignment of Ring Laser Gyroscope Strapdown Inertial Navigation System. The observability of the system with different measurement models were analyzed in detail. Navigation algorimm in alignment is modified to feedback continuously for the closed-loop system. The feasibility of this solution is verified through simulation and experiments. It is shown that the initial covariance of Kalman filter can influence the speed of initial alignment significantly because the covariance can not reflect the true stute of the uzimudi very well. At the beginning of alignment, Kalman filter must make a very conservative guess at the initial value of azimuth angle. If not, initial alignment will be uccomplished at u low speed.",

keywords = "Initial alignment, Kalman filter, Reducedorder Kalman filter, Ring laser gyroscope, Strupdown inertial navigation system",

author = "Shaolin L{\"u} and Ling Xie and Jiabin Chen",

year = "2008",

doi = "10.1109/CCDC.2008.4598016",

language = "English",

isbn = "9781424417346",

series = "Chinese Control and Decision Conference, 2008, CCDC 2008",

pages = "3675--3680",

booktitle = "Chinese Control and Decision Conference, 2008, CCDC 2008",

note = "Chinese Control and Decision Conference 2008, CCDC 2008 ; Conference date: 02-07-2008 Through 04-07-2008",

}

TY - GEN

T1 - Reduced-order Kalman filter for RLG SINS initial alignment

AU - Lü, Shaolin

AU - Xie, Ling

AU - Chen, Jiabin

PY - 2008

Y1 - 2008

N2 - A closed-loop reduced-order Kalman filter is utilized to perform initial alignment of Ring Laser Gyroscope Strapdown Inertial Navigation System. The observability of the system with different measurement models were analyzed in detail. Navigation algorimm in alignment is modified to feedback continuously for the closed-loop system. The feasibility of this solution is verified through simulation and experiments. It is shown that the initial covariance of Kalman filter can influence the speed of initial alignment significantly because the covariance can not reflect the true stute of the uzimudi very well. At the beginning of alignment, Kalman filter must make a very conservative guess at the initial value of azimuth angle. If not, initial alignment will be uccomplished at u low speed.

AB - A closed-loop reduced-order Kalman filter is utilized to perform initial alignment of Ring Laser Gyroscope Strapdown Inertial Navigation System. The observability of the system with different measurement models were analyzed in detail. Navigation algorimm in alignment is modified to feedback continuously for the closed-loop system. The feasibility of this solution is verified through simulation and experiments. It is shown that the initial covariance of Kalman filter can influence the speed of initial alignment significantly because the covariance can not reflect the true stute of the uzimudi very well. At the beginning of alignment, Kalman filter must make a very conservative guess at the initial value of azimuth angle. If not, initial alignment will be uccomplished at u low speed.

KW - Initial alignment

KW - Kalman filter

KW - Reducedorder Kalman filter

KW - Ring laser gyroscope

KW - Strupdown inertial navigation system

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U2 - 10.1109/CCDC.2008.4598016

DO - 10.1109/CCDC.2008.4598016

M3 - Conference contribution

AN - SCOPUS:52349115520

SN - 9781424417346

T3 - Chinese Control and Decision Conference, 2008, CCDC 2008

SP - 3675

EP - 3680

BT - Chinese Control and Decision Conference, 2008, CCDC 2008

T2 - Chinese Control and Decision Conference 2008, CCDC 2008

Y2 - 2 July 2008 through 4 July 2008

ER -

Reduced-order Kalman filter for RLG SINS initial alignment

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Keywords

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