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	New techniques for initial alignment of strapdown inertial navigation system
	Lu, Shaolin ; Xie, Ling ; Chen, Jiabin
	2010-10-12 ; 2010-10-12
关键词	Strapdown inertial navigation system Initial alignment Kalman filter KALMAN FILTER ALGORITHMS Automation & Control Systems Engineering, Multidisciplinary Engineering, Electrical & Electronic Mathematics, Interdisciplinary Applications
中文摘要	Some new techniques for initial alignment of strapdown inertial navigation system are proposed in this paper. A new solution for the precise azimuth alignment is given in detail. A new prefilter, which consists of an IIR filter and a Kalman filter using hidden Markov model, is designed to attenuate the influence of sensor noise and outer disturbance. Navigation algorithm in alignment is modified to feedback continuously for the closed-loop system. It is shown that the initial estimated variance setting of azimuth angle error can influence the speed of initial alignment significantly. At the beginning of alignment, Kalman filter must make a very conservative guess at the initial value of azimuth angle error to get a high convergent speed of the azimuth angle. It is pointed out that the low signal to noise ratio makes the ordinary setting of the estimated azimuth variance slow down the convergent speed of the azimuth angle. Also is shown that the large azimuth angle error problem can be solved well by our solution. The feasibility of these new techniques is verified by simulation and experiment. (C) 2009 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
语种	英语 ; 英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD ; OXFORD ; THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/80420]
专题	清华大学
推荐引用方式 GB/T 7714	Lu, Shaolin,Xie, Ling,Chen, Jiabin. New techniques for initial alignment of strapdown inertial navigation system[J],2010, 2010.
APA	Lu, Shaolin,Xie, Ling,&Chen, Jiabin.(2010).New techniques for initial alignment of strapdown inertial navigation system..
MLA	Lu, Shaolin,et al."New techniques for initial alignment of strapdown inertial navigation system".(2010).

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