| Autor: |
Yang, Lijian, Yang, Yang, Gao, Songwei, Li, Ruiqiang |
| Zdroj: |
Procedia Engineering; May2012, Vol. 29, p2644-2648, 5p |
| Abstrakt: |
Abstract: Aiming to the low accuracy IMU''s initial alignment issue related to the pipeline''s geographical coordinate measuring system (PGC), the PGC initial alignment method is introduced. The coarse alignment is used to resolve large angle error at first, and then the precise alignment is done in small angle range. In the precise alignment process, the irstorder Markov process is used to separate the white noise, then the 13 dimension states equation and the measuring equation are built; the unscented particle kalman filtering (UPF) is used to resolve nonlinear problem that caused by the large attitude angle. The experiment shows that the method mentioned above can effectively mproves the accuracy of the initial alignment in the PGC. [Copyright &y& Elsevier] |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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