Analytical quaternion-based bias estimation algorithm for fast and accurate stationary gyro-compassing

Autor:	H. Mohammadkarimi, S. Mozafari, M. H. Alizadeh
Jazyk:	angličtina
Rok vydání:	2024
Předmět:	Gyrocompassing Azimuth alignment Initial alignment Strapdown INS Inertial sensor errors Kalman filter Medicine Science
Zdroj:	Scientific Reports, Vol 14, Iss 1, Pp 1-14 (2024)
Druh dokumentu:	article
ISSN:	2045-2322
DOI:	10.1038/s41598-024-66282-9
Popis:	Abstract This work introduces a novel approach to Strapdown Inertial Navigation System (SINS) alignment, distinct from recursive methods like Kalman filtering. The proposed methodology expedites bias error calculations by utilizing quaternion-based analytical relationships, which bypasses the slow convergence behavior associated with recursive algorithms, particularly in azimuth angle error estimation. In addition, the proposed approach demonstrates comparable accuracy to traditional fine alignment methods. Simulations and experiments validate that in contrast to the 10-min time requirement of traditional fine alignment methods (for azimuth angle estimation in stationary conditions), the proposed approach achieves the same accuracy within 20 s. However, limitations exist as the algorithm is applicable only in stationary conditions, and necessitating a high-grade IMU capable of measuring the earth’s rotation rate.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/509a7ecd1601461fb0b5b35ca7c1f1ed Zobrazit plný text záznamu View record in DOAJ Plný text ve formátu PDF Plný text ve formátu HTML
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