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An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design Method.

Yonggang Zhang1, Li Luo2, Tao Fang3

  • 1College of Automation, Harbin Engineering University, Harbin 150001, China. zhangyg@hrbeu.edu.cn.

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Summary
This summary is machine-generated.

This study introduces an improved coarse alignment (ICA) algorithm for odometer-aided strapdown inertial navigation systems (SINS). The new method enhances alignment accuracy, especially under challenging variable velocity and acceleration conditions.

Keywords:
coarse alignmentlinear approximationodometer-aided SINSoptimized alignment

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Area of Science:

  • Navigation Systems Engineering
  • Inertial Navigation
  • Sensor Fusion

Background:

  • Strapdown inertial navigation systems (SINS) require accurate initial alignment.
  • Odometer-aiding improves SINS accuracy but is sensitive to dynamic conditions.
  • Conventional coarse alignment methods struggle with variable velocity and acceleration.

Purpose of the Study:

  • To propose an improved coarse alignment (ICA) algorithm for odometer-aided SINS.
  • To enhance alignment accuracy under dynamic operational conditions.
  • To address limitations of traditional coarse alignment techniques.

Main Methods:

  • Linearization of inertial sensor and odometer outputs within sampling intervals.
  • Vector observation accuracy improvement through linearization.
  • Precision enhancement of the coarse alignment process.

Main Results:

  • Demonstrated superior alignment performance compared to conventional methods.
  • Achieved better accuracy under variable velocity and acceleration.
  • Validated through both simulation and field tests.

Conclusions:

  • The proposed ICA algorithm significantly improves SINS coarse alignment accuracy.
  • Linearization of sensor outputs is key to handling dynamic conditions effectively.
  • The ICA algorithm offers a more robust solution for navigation systems in variable environments.