Paper Info
Title
Improved Multistage In-Motion Attitude Determination Alignment Method for Strapdown Inertial Navigation System.
Abstract
This paper derives an improved multistage in-motion attitude determination alignment (IMADA) for strapdown inertial navigation system, which integrates the traditional IMADA and the designed dual velocity-modeling IMADA, as well as the multiple repeated alignment process, to address the principled model errors and the calculation errors of traditional V-b-aided IMADA. With the proposed algorithm, not only the designed drawbacks of traditional V-b-based IMADA can be solved, but also the degradation phenomenon of high-level alignment for multistage IMADA would be largely less. Moreover, the degradation of the alignment accuracy with the vehicle velocity is also removed. Finally, the 30 groups of car-mounted experiments and the Monte Carlo simulation experiments with the navigation-grade SINS are carried out to demonstrate the validity of the proposed algorithm. The results show that the number of the heading degradation of the second-level alignment is reduced to 10 as compared the traditional number 20. Moreover, the alignment accuracy of heading is improved by 23%. Even with the different speeds of 20 m/s, 60 m/s, 80 m/s, the heading alignment accuracies are 1.3063 degrees, 1.3102 degrees, 1.3564 degrees and are still almost the same.
Year
DOI
Venue
2019
10.3390/s19204568
SENSORS
Keywords
Field
DocType
initial alignment,In-Motion Attitude Determination Alignment (IMADA),dual velocity-modeling IMADA alignment,multistage alignment
Inertial navigation system,Monte Carlo method,Attitude determination,Algorithm,Electronic engineering,Engineering
Journal
Volume
Issue
ISSN
19
20.0
1424-8220
Citations 
PageRank 
References 
0
0.34
0
Authors
5
Name
Order
Citations
PageRank
Haiyan Qiao100.34
Meng Liu23918.70
Hao Meng352.46
Mengjun Wang400.34
Ke Wei5475.20