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An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
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An Improved Inertial Frame Alignment Algorithm Based on Horizontal Alignment Information for Marine SINS.

Yanting Che1, Qiuying Wang2, Wei Gao3

  • 1College of Automation, Harbin Engineering University, Harbin, China. cheyanting@hrbeu.edu.cn.

Sensors (Basel, Switzerland)
|October 8, 2015
PubMed
Summary
This summary is machine-generated.

This study introduces an improved inertial frame alignment algorithm for marine Strapdown Inertial Navigation Systems (SINS) under mooring conditions. The new method enhances accuracy by leveraging gravity

Keywords:
SINSalignmentdimension reduction GHFinertial coordinate frame

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Area of Science:

  • Marine navigation systems
  • Inertial navigation technology
  • Geophysical measurement techniques

Background:

  • Marine Strapdown Inertial Navigation Systems (SINS) require accurate initial alignment for precise navigation.
  • Conventional inertial alignment algorithms face challenges under mooring conditions, impacting accuracy.
  • The horizontal component of gravity in the horizontal plane is zero, presenting an opportunity for algorithmic improvement.

Purpose of the Study:

  • To propose an improved inertial frame alignment algorithm for marine SINS under mooring conditions.
  • To enhance the accuracy of initial alignment for medium-accuracy marine SINS.
  • To address limitations of conventional algorithms in achieving precise horizontal reference frames.

Main Methods:

  • Utilizing a large misalignment angle model to establish a fine horizontal reference frame.
  • Employing a dimensionality reduction Gauss-Hermite filter for improved reference frame accuracy.
  • Calculating the projection of gravity in the body inertial coordinate frame based on the established reference frame.

Main Results:

  • The improved algorithm significantly enhances the accuracy of inertial frame alignment for marine SINS.
  • Simulation and experimental results demonstrate superior performance compared to conventional algorithms.
  • The proposed method meets the accuracy requirements for medium-accuracy marine SINS.

Conclusions:

  • The developed inertial frame alignment algorithm offers a significant improvement for marine SINS under mooring.
  • The method provides a more accurate and reliable initial alignment solution.
  • This advancement is crucial for the operational effectiveness of medium-accuracy marine navigation systems.