Novel SINS Alignment Method Using SG-KP-QKF

DOI

10.2991/ic3me-15.2015.185How to use a DOI?

Keywords

SINS, alignment, SG-KP-QKF.

Abstract

This paper proposes a novel direct and completely nonlinear alignment method for the strapdown inertial navigation system (SINS). The method uses the sparse-grid quadrature Kalman filter based on the Kronrod–Patterson rule (SG-KP-QKF) and nonlinear models. The system equations and the measurement equations are all nonlinear. One of the advantages of the method is that the nonlinear SG-KP-QKF directly output the Euler angles which are simultaneously updated in the process of filter time updating. Finally, the method is verified by inertial measurement unit (IMU) experimental data. The alignment results show that the proposed method can obtain an accurate initial attitude within a short convergence time. These findings suggest that the proposed method differs from traditional alignment methods and can thus be considered a easier solution for SINS alignment.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Changyan Ran
PY  - 2015/08
DA  - 2015/08
TI  - Novel SINS Alignment Method Using SG-KP-QKF
BT  - Proceedings of the 3rd International Conference on Material, Mechanical and Manufacturing Engineering
PB  - Atlantis Press
SP  - 959
EP  - 963
SN  - 2352-5401
UR  - https://doi.org/10.2991/ic3me-15.2015.185
DO  - 10.2991/ic3me-15.2015.185
ID  - Ran2015/08
ER  -