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A New Analytic Alignment Method for a SINS.

Caiming Tan1, Xinhua Zhu2, Yan Su3

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Sensors (Basel, Switzerland)
|November 12, 2015
PubMed
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A new selective alignment method improves Strapdown Inertial Navigation System (SINS) yaw precision by using fewer inertial measurement unit (IMU) outputs. This analytic alignment technique enhances accuracy for self-alignment and fault detection applications.

Keywords:
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Area of Science:

  • Navigation Systems Engineering
  • Geophysics and Geodesy
  • Robotics and Control Systems

Background:

  • Strapdown Inertial Navigation Systems (SINS) rely on analytic alignment for self-alignment.
  • Traditional analytic coarse alignment uses all six inertial measurement unit (IMU) outputs.
  • The TRIAD algorithm is a foundational method for attitude determination using two non-collinear vectors.

Purpose of the Study:

  • To introduce a novel analytic alignment method called selective alignment for SINS.
  • To reduce the number of required IMU outputs for attitude calculation.
  • To enhance the precision of SINS alignment, particularly yaw accuracy.

Main Methods:

  • Developed the selective alignment method, utilizing only three core IMU outputs and properties (sign, approximate value) of the remaining outputs.
  • Extended the principles of the TRIAD algorithm for SINS attitude determination.
  • Validated the method through simulations and experimental vehicle testing.

Main Results:

  • Selective alignment successfully calculates SINS attitude using a reduced set of IMU data.
  • Experimental results show improved yaw precision compared to traditional analytic coarse alignment.
  • The method demonstrates validity and accuracy for stationary base applications.

Conclusions:

  • Selective alignment offers an efficient and accurate alternative for SINS analytic alignment.
  • The method is an extension of the TRIAD algorithm, providing enhanced yaw precision.
  • Potential applications include SINS self-alignment, fault detection, and self-calibration.