A fast initial alignment method for SINS on stationary base

Sheng Yang; Jiancheng Fang

doi:10.1117/12.806728

13 October 2008 A fast initial alignment method for SINS on stationary base

Sheng Yang, Jiancheng Fang

Proceedings Volume 7128, Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment; 71281O (2008) https://doi.org/10.1117/12.806728
Event: Seventh International Symposium on Instrumentation and Control Technology, 2008, Beijing, China

Abstract

In case of initial self-alignment for SINS on stationary base, when the level accelerometer outputs are taken as the measurement value for Kalman filter, the convergence speed of azimuth misalignment angle is limited by the observability of SINS. A fine alignment method for SINS is introduced firstly, which can do the accelerometer-based leveling alignment and gyro-based heading alignment simultaneously. The observability analysis by Singular Value Decomposition for this method shows that, the degree of observability of SINS is improved by adding observable extern information. Based on the analysis, a fast initial alignment method is proposed, which employs a reduced order alignment Kalman filter and takes both the level accelerometer outputs and east gyroscope output as the measurement value. Besides, the model error compensation method is given. Simulation and experimental comparison results between this fast alignment method and traditional one illustrate that, the convergence speed of azimuth misalignment angle is improved greatly with good real-time performance.

Citation Download Citation

Sheng Yang and Jiancheng Fang "A fast initial alignment method for SINS on stationary base", Proc. SPIE 7128, Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment, 71281O (13 October 2008); https://doi.org/10.1117/12.806728

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