DVL-aided parallel processing algorithm for marine attitude and heading reference system

被引：0
作者：
机构：
[1] College of Automation, Harbin Engineering University
[2] Beijing Aerospace Automatic Control Institute
来源：
Xia, J. (xiajianzhong@hrbeu.edu.cn) | 1600年 / Binary Information Press卷 / 10期
关键词：
Attitude and heading reference system; DVL; Parallel processing; Strapdown gyrocompass; Strapdown inertial navigation system;
D O I：
10.12733/jcis9267
中图分类号：
学科分类号：
摘要：
Attitude and Heading Reference System (AHRS) is a device used to determinate a vehicles attitude based on gyrocompass algorithm. With the rapid development of strapdown gyrocompass, few corresponding strapdown algorithms occur in publications, and we have to use the conventional one which designed for platform gyrocompass. Due in large part to advances in digital computer, we proposed parallel processing algorithm of strapdown inertial dual-system aided by Doppler Velocity Log (DVL). In the proposed method, a novel strapdown gyrocompass system (SGS) and strapdown inertial navigation system (SINS) perform respectively. The velocity provided by SINS is used to optimize the DVL measurement, hence, to improve the attitude accuracy of strapdown gyrocompass system. The analysis and numerical results show the better performance of the proposed method than the conventional single strapdown gyrocompass system for marine AHRS. © 2014 Binary Information Press.
引用
收藏
页码：1019 / 1027
页数：8
相关论文
共 15 条
  • [1] Jurman D., Jankovec M., Kamnik R., Calibration and data fusion for the miniature attitude and heading reference system, Sensors and Actuators A-Physical, 138, pp. 411-420, (2007)
  • [2] Broelmann J., The development of the gyrocompass-Inventors as navigators, Journal of Navigation, 51, 2, pp. 267-273, (1998)
  • [3] Titterton D.H., Weston J.L., Strapdown Inertial Navigation Technology, pp. 15-32, (2004)
  • [4] Salychev O.S., Applied Inertial Navigation, pp. 20-29, (2004)
  • [5] Levinson E., Willcocks M., The next generation marine inertial navigation is here now, IEEE Position Location and Navigation Symposium, pp. 121-127, (1994)
  • [6] Gu D.Q., El-Sheimy N., Hassan T., Coarse alignment for marine SINS using gravity in the inertial frame as a reference, In IEEE Position Location and Navigation Symposium, pp. 961-965, (2008)
  • [7] Andreev A.G., Ermakov V.S., Mafter M.B., Some problems of the gyrocompass accuracy increasing in gyrocompass with digital control, Proceedings of 8th International Conference on Integrated Navigation Systems, (2001)
  • [8] Terry T., Emanuel L., The AN/WSN-7B marine gyrocompass/navigator, Proceedings of the National Technical Meeting of the Institute of Navigation, pp. 348-357, (2000)
  • [9] Ge Z.M., Lue Y.C., Ku F.N., Dynamic analysis of a gyrocompass, Japanese Journal of Applied Physics, Part1, 35, pp. 4864-4872, (1996)
  • [10] Sun F., Sun W., Mooring alignment for marine SINS using the digital filter, Journal of Measurement, 43, pp. 1489-1494, (2010)
12