A Method for SINS Alignment with Large Initial Misalignment Angles Based on Kalman Filter with Parameters ResettingReport as inadecuate




A Method for SINS Alignment with Large Initial Misalignment Angles Based on Kalman Filter with Parameters Resetting - Download this document for free, or read online. Document in PDF available to download.

Mathematical Problems in Engineering - Volume 2014 2014, Article ID 346291, 10 pages -

Research Article

School of Instrument Science & Engineering, Southeast University, Nanjing 210096, China

Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Nanjing 210096, China

Received 24 September 2013; Revised 18 February 2014; Accepted 3 March 2014; Published 1 April 2014

Academic Editor: Shihua Li

Copyright © 2014 Xixiang Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

In the initial alignment process of strapdown inertial navigation system SINS, large initial misalignment angles always bring nonlinear problem, which causes alignment failure when the classical linear error model and standard Kalman filter are used. In this paper, the problem of large misalignment angles in SINS initial alignment is investigated, and the key reason for alignment failure is given as the state covariance from Kalman filter cannot represent the true one during the steady filtering process. According to the analysis, an alignment method for SINS based on multiresetting the state covariance matrix of Kalman filter is designed to deal with large initial misalignment angles, in which classical linear error model and standard Kalman filter are used, but the state covariance matrix should be multireset before the steady process until large misalignment angles are decreased to small ones. The performance of the proposed method is evaluated by simulation and car test, and the results indicate that the proposed method can fulfill initial alignment with large misalignment angles effectively and the alignment accuracy of the proposed method is as precise as that of alignment with small misalignment angles.





Author: Xixiang Liu, Xiaosu Xu, Yiting Liu, and Lihui Wang

Source: https://www.hindawi.com/



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