Coarse Alignment of Marine Strapdown INS Based on the Trajectory Fitting of Gravity Movement in the Inertial Space
| Autor: | Xu Xiaomin, Dongxue Guan, Jianhua Cheng, Fei Zaihui, Lin Zhao |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
Gravity (chemistry)
Inertial frame of reference Computer science 02 engineering and technology gravity vector lcsh:Chemical technology 01 natural sciences Biochemistry Stability (probability) Article Analytical Chemistry law.invention Flight dynamics Control theory law 0202 electrical engineering electronic engineering information engineering lcsh:TP1-1185 Computer vision Electrical and Electronic Engineering Instrumentation Inertial navigation system least-squares fitting of spatial circle coarse alignment business.industry Inertial Navigation System (INS) inertial frame marine applications 020208 electrical & electronic engineering 010401 analytical chemistry Frame (networking) Gyroscope Atomic and Molecular Physics and Optics 0104 chemical sciences Trajectory Artificial intelligence business |
| Zdroj: | Sensors; Volume 16; Issue 10; Pages: 1714 Sensors, Vol 16, Iss 10, p 1714 (2016) Sensors (Basel, Switzerland) |
| ISSN: | 1424-8220 |
| DOI: | 10.3390/s16101714 |
| Popis: | A ship experiences the random motion of sea waves during its travels. Hence, the coarse alignment of the marine strapdown Inertial Navigation System (INS) suffers from rocking disturbances such as pitch and roll. In this paper, a novel approach of marine coarse alignment was proposed for avoiding the resulting loss of accuracy from rocking disturbances. Unlike several current techniques, our alignment scheme is intuitional and concise. Moreover, the coarse alignment can be implemented without any external information. The gravity vector and its derivative expressed within the inertial frame can describe the attitude matrix between an inertial frame and the local geographic frame. We address the challenge of calculating the gravity derivative by the least-squares fitting of the trajectory of the gravity movement in the inertial frame. Meanwhile, the integration of angular rates measured by gyroscopes allows one to compute the attitude matrix between the inertial frame and the body frame. The coarse alignment can be thus accomplished by the combination of the above two attitude matrices. The experimental results show that the coarse alignment is effective with high accuracy and stability for demanding marine applications. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|