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Sensors (Basel). 2018 Jan 16;18(1). pii: E239. doi: 10.3390/s18010239.

A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm.

Zhu Y1,2, Zhang T3,4, Xu X5,6.

Author information

1
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. zhyy@seu.edu.cn.
2
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing 210096, China. zhyy@seu.edu.cn.
3
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. 101011356@seu.edu.cn.
4
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing 210096, China. 101011356@seu.edu.cn.
5
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. xuxiang@seu.edu.cn.
6
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing 210096, China. xuxiang@seu.edu.cn.

Abstract

In this paper, we proposed a coarse-alignment method for strapdown inertial navigation systems based on attitude determination. The observation vectors, which can be obtained by inertial sensors, usually contain various types of noise, which affects the convergence rate and the accuracy of the coarse alignment. Given this drawback, we studied an attitude-determination method named optimal-REQUEST, which is an optimal method for attitude determination that is based on observation vectors. Compared to the traditional attitude-determination method, the filtering gain of the proposed method is tuned autonomously; thus, the convergence rate of the attitude determination is faster than in the traditional method. Within the proposed method, we developed an iterative method for determining the attitude quaternion. We carried out simulation and turntable tests, which we used to validate the proposed method's performance. The experiment's results showed that the convergence rate of the proposed optimal-REQUEST algorithm is faster and that the coarse alignment's stability is higher. In summary, the proposed method has a high applicability to practical systems.

KEYWORDS:

attitude determination; coarse alignment; optimal-REQUEST; strapdown inertial navigation system (SINS)

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