In-motion Alignment of a Low-cost GPS/INS under Large Heading Error

被引:19
作者
Kaygisiz, Burak H. [1 ]
Sen, Bekir [1 ]
机构
[1] Karel Elect R&D Ctr, Intelligent Syst, Ankara, Turkey
关键词
Inertial navigation system; Global positioning system; In-motion alignment; Kalman filter; VEHICLE APPLICATIONS;
D O I
10.1017/S0373463314000629
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
This paper presents a new type of Global Positioning System/Inertial Navigation System (GPS/INS) providing higher navigation accuracy under large initial heading error. The mechanization introduced is applicable to low cost GPS/INS systems and enhances the performance when the heading error is large. The proposed approach has the capability to decrease large heading errors very quickly and can start the strapdown navigation computations under poor heading accuracy without any special alignment procedure. Although the design is applicable to land, sea and aerial vehicles, a land vehicle is used for the performance tests. The test is conducted around a closed path and the proposed system is compared to a GPS/INS system based on small attitude error assumption. The performance of both systems is given in this paper.
引用
收藏
页码:355 / 366
页数:12
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