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1 results

  • In-motion Alignment Algorithm for Vehicle Carried SINS Based on Odometer Aiding

  • Haijian Xue, Xiaosong Guo, Zhaofa Zhou, Kunming Wang
  • Journal:
    The Journal of Navigation / Volume 70 / Issue 6 / November 2017
    Published online by Cambridge University Press:
    21 June 2017, pp. 1349-1366
    Print publication:
    November 2017

  • In-motion alignment plays an important role in improving the manoeuvring capability of a vehicle, and allows the initialisation of a Strapdown Inertial Navigation System (SINS) while moving. Odometer (OD) aided in-motion alignment is widely adopted owing to its fully self-contained characteristic. This paper proposes a complete in-motion alignment algorithm for a vehicle-carried SINS based on odometer aiding, in which an in-motion coarse alignment method using the integration form of the velocity update equation in the body frame to give a rough initial angle is introduced and a new measurement equation in the body frame with a Kalman filter (KF) for the in-motion fine alignment is established. The advantages of the proposed method are verified by simulation and measured data.