A single-axis rotation modulation initial alignment algorithm based on inner lever arm effect compensation in accelerometers

Xinjian Wang, Yongqiang Han, Ling Xie

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Citations (Scopus)

Abstract

The initial alignment technology is one of the key technologies of INS(Inertial Navigation System). When applying traditional Kalman-based initial alignment algorithm to a continuous-rotation INS, it is found that the filter converges very slowly and the errors are big, which is mainly caused by the installation error of the accelerometers with respect to the rotational center of the IMU. To solve the problem, the inner lever arm effect of the accelerometers is taken in to account and an improved alignment algorithm is proposed based on an extended SINS error model. The error caused by the inner lever arm effect of the accelerometers under high speed rotation is estimated and compensated, and a single-axis rotation scheme about the yaw axis is designed, taking into account the rotation speed and modulation time as parameters. It is experimentally verified that the improved algorithm has higher accuracy than traditional algorithm.

Original languageEnglish
Title of host publicationProceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages162-167
Number of pages6
ISBN (Electronic)9781728180250
DOIs
Publication statusPublished - 27 Nov 2020
Event3rd International Conference on Unmanned Systems, ICUS 2020 - Harbin, China
Duration: 27 Nov 202028 Nov 2020

Publication series

NameProceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020

Conference

Conference3rd International Conference on Unmanned Systems, ICUS 2020
Country/TerritoryChina
CityHarbin
Period27/11/2028/11/20

Keywords

  • Initial alignment
  • Inner lever arm
  • Rotation modulation
  • Single-axis

Fingerprint

Dive into the research topics of 'A single-axis rotation modulation initial alignment algorithm based on inner lever arm effect compensation in accelerometers'. Together they form a unique fingerprint.

Cite this