A two-position SINS initial alignment method based on gyro information

Abstract This paper presents a method to improve the accuracy of and reduce the time needed for the initial alignment of strapdown inertial navigation systems. The new method is based on the conventional two position method enhanced by the use of gyro information. After presenting the problem of initial alignment and identifying the key issues – low accuracy and long convergence time, the paper introduces the two position method showing the improvement of performance but not on convergence time. By using gyro information in the new method, precision is improved and time for alignment reduced. The discussion is illustrated with simulations.

[1]  Cheng Wan-juan.  Initial rapid alignment/calibration of a marine strapdown inertial navigation system in moorage , 2008 .

[2]  Jiang Cheng Fang,et al.  A fast initial alignment method for strapdown inertial navigation system on stationary base , 1996 .

[3]  Hyun-Su Hong,et al.  Performance improvement of in-flight alignment for autonomous vehicle under large initial heading error , 2004 .

[4]  N. El-Sheimy,et al.  Coarse alignment for marine SINS using gravity in the inertial frame as a reference , 2008, 2008 IEEE/ION Position, Location and Navigation Symposium.

[5]  Yeon Fuh Jiang,et al.  Error estimation of INS ground alignment through observability analysis , 1992 .

[6]  Martin P. Mintchev,et al.  Observability Analysis for INS Alignment in Horizontal Drilling , 2007, IEEE Transactions on Instrumentation and Measurement.

[7]  Jinling Wang,et al.  A Novel Initial Alignment Scheme for Low-Cost INS Aided by GPS for Land Vehicle Applications , 2010, Journal of Navigation.

[8]  Alireza Khayatian,et al.  Attitude Estimation By Separate-Bias Kalman Filter-Based Data Fusion , 2004 .

[9]  N. El-Sheimy,et al.  Wavelet de-noising for IMU alignment , 2004, IEEE Aerospace and Electronic Systems Magazine.

[10]  Jang Gyu Lee,et al.  TWO-POSITION ALIGNMENT OF STRAPDOWN INERTIAL NAVIGATION SYSTEM , 1998 .

[11]  Xiaoji Niu,et al.  RAPID AND ACCURATE INS ALIGNMENT FOR LAND APPLICATIONS , 2010 .

[12]  Peter M. G. Silson,et al.  Coarse Alignment of a Ship's Strapdown Inertial Attitude Reference System Using Velocity Loci , 2011, IEEE Transactions on Instrumentation and Measurement.

[13]  Jeong Gu Lee,et al.  Multiposition alignment of strapdown inertial navigation system , 1993 .

[14]  S. Fujioka,et al.  Nonlinear Filtering Methods for the INS/GPS In-Motion Alignment and Navigation , 2006 .