In-Motion Alignment Method of SINS Based on Improved Kalman Filter under Geographic Latitude Uncertainty

被引:3
作者
Sun, Jin [1 ,2 ,3 ]
Ye, Qianqi [1 ]
Lei, Yue [1 ]
机构
[1] Nanjing Univ Posts & Telecommun, Coll Internet Things, Nanjing 210003, Peoples R China
[2] Shanghai Jiao Tong Univ, State Key Lab Ocean Engn, Shanghai 200240, Peoples R China
[3] Jiangsu Huaerwei Sci & Technol Grp Co Ltd, Huaian 211600, Peoples R China
基金
美国国家科学基金会; 中国博士后科学基金;
关键词
in-motion alignment; strapdown inertial navigation system (SINS); multi-fading factor; improved Kalman filter (IKF); latitude estimation; integral dynamic window (IDW); polynomial fitting (PF); COARSE ALIGNMENT; AIDED SINS; NAVIGATION;
D O I
10.3390/rs14112581
中图分类号
X [环境科学、安全科学];
学科分类号
08 ; 0830 ;
摘要
To realize the in-motion alignment of the strapdown inertial navigation system (SINS) under the geographic latitude uncertainty, we propose a latitude estimation and in-motion alignment method based on the integral dynamic window and polynomial fitting (IDW-PF) and improved Kalman filter (IKF). First, the integral dynamic window (IDW) is designed to smooth out the high-frequency line motion interference and accelerometer noise. Second, the specific force integral is performed for a cubic polynomial fitting (PF) with time as an independent variable to further suppress the line motion interference. Simultaneously, the latitude is estimated according to the geometric relationship between the angle of the gravitational acceleration vectors at different moments and the latitude. Finally, the IKF based on the multi-fading factor is designed for the in-motion alignment of SINS. A simulation experiment is conducted to verify the proposed latitude estimation and in-motion alignment method. The results indicate that the latitude can be estimated well by the method based on the IDW-PF; the mean and standard deviation of the estimated latitude can achieve -0.016 degrees and 0.013 degrees within 300 s. The trapezoidal maneuvering path is optimal when IKF is used, the pitch error is 0.0002 degrees, the roll error is 0.0009 degrees and the heading error is -0.0047 degrees after the alignment ends at 900 s.
引用
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页数:15
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