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An Improved Optimal Method For Initial Alignment

Published online by Cambridge University Press:  25 March 2014

Jingshu Li ,
Jiangning Xu ,
Lubin Chang  and
Feng Zha
Jingshu Li*
Affiliation:
(Department of Navigation Engineering, Naval University of Engineering, Wuhan 430033, People's Republic of China)
Jiangning Xu
Affiliation:
(Department of Navigation Engineering, Naval University of Engineering, Wuhan 430033, People's Republic of China)
Lubin Chang
Affiliation:
(Department of Navigation Engineering, Naval University of Engineering, Wuhan 430033, People's Republic of China)
Feng Zha
Affiliation:
(Department of Navigation Engineering, Naval University of Engineering, Wuhan 430033, People's Republic of China)
*
(E-mail: elvisstef@163.com)
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Abstract

A type of fixed integral interval sliding method for optimization-based alignment is proposed in this paper. The method is more reasonable and suitable than those in the references due to the appropriate treatment of the noise in the outputs of the Inertial Measurement Unit (IMU). The undesired sensor noise of sensors includes both random noise and bias. Our optimal alignment is based on an integrated form where the bias will be integrated during the process of alignment. In this respect, the length of the integrated data is a key factor in determining current attitude due to the ambivalent effect of integrating the sensor noise. If the length is too great the precision deteriorates due to the integration of bias. If the length is too small the precision also deteriorates because of the randomness of the noise. The validity of the method is verified by simulation and measured data.

Keywords

AlignmentNoiseIMUOptimal method
Type
Review Article
Information
The Journal of Navigation , Volume 67 , Issue 4 , July 2014 , pp. 727 - 736
Copyright
Copyright © The Royal Institute of Navigation 2014 

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References

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