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A Group Affine-Based Inverse Alignment Method for High-Precision Rotational Inertial Navigation Systems.

Chao Liu1,2, Ding Li1,2, Huiping Li1,2

  • 1College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, China.

Sensors (Basel, Switzerland)
|April 28, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a new inverse alignment method for rotational inertial navigation, significantly improving accuracy and reducing errors. The approach enhances precision for high-performance navigation systems.

Keywords:
Lie groupsgroup affineinertial navigation system (INS)initial alignmentinverse navigationrotational INS

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Area of Science:

  • Engineering
  • Navigation Systems
  • Control Theory

Background:

  • Initial alignment is critical for inertial navigation systems (INS).
  • Orientation errors during alignment degrade positioning and attitude estimates.
  • Standard alignment methods face challenges with accuracy and speed.

Purpose of the Study:

  • To propose a novel inverse alignment method for rotational inertial navigation.
  • To accelerate and refine the alignment process using group affine properties and high-speed computing.
  • To improve the precision and speed of initial alignment in INS.

Main Methods:

  • Leveraging group affine properties and high-speed computing.
  • Adopting inverse navigation and Lie group theory.
  • Deriving a left-invariant error model in the geocentric geosynchronous coordinate framework.
  • Integrating forward and inverse Kalman filtering for rapid alignment.

Main Results:

  • Reduced maximum error and Circular Error Probable (CEP) by 60% compared to standard methods.
  • Improved accuracy by 7.2% and 20% over conventional group affine alignment.
  • Demonstrated swift, precise alignment across diverse initial misalignment angles during 2.5-hour in-vehicle tests.

Conclusions:

  • The novel inverse alignment method offers significant benefits for modern high-precision inertial navigation.
  • The approach achieves superior accuracy and speed in initial alignment.
  • Effective for rotational inertial navigation applications requiring high precision.