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Autonomous In-motion Alignment for Land Vehicle Strapdown Inertial Navigation System without the Aid of External Sensors

Published online by Cambridge University Press:  29 June 2018

Qiangwen Fu Open the ORCID record for Qiangwen Fu [Opens in a new window] ,
Yang Liu Open the ORCID record for Yang Liu [Opens in a new window] ,
Zhenbo Liu ,
Sihai Li  and
Bofan Guan
Qiangwen Fu*
Affiliation:
(School of Automation, Northwestern Polytechnical University, China)
Yang Liu
Affiliation:
(School of Automation, Northwestern Polytechnical University, China)
Zhenbo Liu
Affiliation:
(School of Automation, Northwestern Polytechnical University, China)
Sihai Li
Affiliation:
(School of Automation, Northwestern Polytechnical University, China)
Bofan Guan
Affiliation:
(School of Automation, Northwestern Polytechnical University, China)
*
(E-mail: [email protected])
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Abstract

This paper describes a fully autonomous real-time in-motion alignment algorithm for Strapdown Inertial Navigation Systems (SINS) in land vehicle applications. Once the initial position is available, the vehicle can start a mission immediately with accurate attitude, position and velocity information determined within ten minutes. This is achieved by two tightly coupled stages, that is, real-time Double-vector Attitude Determination Coarse Alignment (DADCA) and Backtracking Fine Alignment (BFA). In the DADCA process, the vehicle motion is omitted to roughly estimate the attitude at the very start of the alignment. Meanwhile, attitude quaternions and velocity increments are extracted and recorded. The BFA process utilises the stored data and exploits the Non-Holonomic Constraints (NHC) of a vehicle to obtain virtual velocity measurements. A linear SINS/NHC Kalman filter with mounting angles as extended states is constructed to improve the fine alignment accuracy. The method is verified by three vehicle tests, which shows that the accuracy of alignment azimuth is 0·0358° (Root Mean Square, RMS) and the positioning accuracy is about 15 m (RMS) at the end of the alignment.

Keywords

In-motion alignmentBacktracking navigationNon-Holonomic Constraints (NHC)Land navigation
Type
Research Article
Information
The Journal of Navigation , Volume 71 , Issue 6 , November 2018 , pp. 1312 - 1328
Copyright
Copyright © The Royal Institute of Navigation 2018 

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