TY - GEN
T1 - An improved attitude determination-based alignment for odometer-aided in-motion SINS
AU - Xiao, Xuan
AU - Xu, Chao
AU - Liu, Jiaxin
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/27
Y1 - 2020/11/27
N2 - In-motion coarse alignment is an important part for the odometer (OD)-aided strapdown inertial navigation system (SINS). In this paper, an improved attitude determination (AD) based alignment algorithm for OD aided in-motion SINS is proposed. Firstly, improved vector observations are proposed to reduce the model errors of the vector observations in the conventional AD-based alignment. Secondly, in order to address the side effects on the coarse alignment caused by faulty odometer measurement information, a linear state-space model is proposed, and then an OD measurement information detection and isolation procedure is established. The results of simulation experiments show that the improved alignment algorithm can effectively suppress the side effects due to the faulty OD measurement information, and the improved alignment algorithm has shorter convergence time and higher accuracy than the conventional AD-based alignment method.
AB - In-motion coarse alignment is an important part for the odometer (OD)-aided strapdown inertial navigation system (SINS). In this paper, an improved attitude determination (AD) based alignment algorithm for OD aided in-motion SINS is proposed. Firstly, improved vector observations are proposed to reduce the model errors of the vector observations in the conventional AD-based alignment. Secondly, in order to address the side effects on the coarse alignment caused by faulty odometer measurement information, a linear state-space model is proposed, and then an OD measurement information detection and isolation procedure is established. The results of simulation experiments show that the improved alignment algorithm can effectively suppress the side effects due to the faulty OD measurement information, and the improved alignment algorithm has shorter convergence time and higher accuracy than the conventional AD-based alignment method.
KW - Attitude determination
KW - In-motion coarse alignment
KW - OD-aided SINS
KW - Vector observations
UR - https://www.scopus.com/pages/publications/85098952845
U2 - 10.1109/ICUS50048.2020.9274965
DO - 10.1109/ICUS50048.2020.9274965
M3 - Conference contribution
AN - SCOPUS:85098952845
T3 - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
SP - 287
EP - 292
BT - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Unmanned Systems, ICUS 2020
Y2 - 27 November 2020 through 28 November 2020
ER -