捷联惯导行进间对准位置更新与误差分析

doi:10.3969/j.issn.1001-506X.2020.01.23

Abstract

Abstract:

In order to improve the robustness and get position information in initial alignment of strapdown inertial navigation system for moving vehicles, an moving based inertial coordination alignment method based on position update is presented, and the influence of position error is analyzed. Model of double-vector and multi-vector alignment is established through inertial coordination solidification, and a position update algorithm in inertial coordinate system alignment for moving base is proposed by which measured vector will be calculated through measured velocity, and position will be reckoned through attitude alternating and integration. Moreover, the alignment error with position error is analyzed. It is verified by experiment that inertial coordination multi-vector alignment takes more advantage of measured vectors, and gets better robustness of alignment than double-vector alignment. Position error will affect the accuracy of alignment for moving base. The precision of alignment is improved by position update for moving base, and position will be provided for following navigation when alignment has been done.

Key words: strapdown inertial navigation, initial alignment, moving base, position update

CLC Number:

V249

Zhenjun CHANG, Zhili ZHANG, Zhaofa ZHOU, He CHEN. Position updating and error analysis of SINS alignment for moving base[J]. Systems Engineering and Electronics, 2020, 42(1): 172-178.

Figures/Tables 9

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

References 22

1	周绍磊, 吴修振, 徐海刚, 等. 一种新的捷联惯导快速双位置对准方法[J]. 中国惯性技术学报, 2012, 20 (5): 525- 529. doi: 10.3969/j.issn.1005-6734.2012.05.005
	ZHOU S L , WU X Z , XU H G , et al. New rapid two-position alignment method of SINS[J]. Journal of Chinese Inertial Technology, 2012, 20 (5): 525- 529. doi: 10.3969/j.issn.1005-6734.2012.05.005
2	赵晓伟, 孙谦, 陈鸿跃. 单轴旋转捷联惯导系统初始对准误差分析[J]. 导弹与航天运载技术, 2014, 4, 58- 59.
	ZHAO X W , SUN Q , CHENG H Y . Error analysis for initial alignment of single-axis rotating SINS[J]. Missiles and Space Vehicles, 2014, 4, 58- 59.
3	严恭敏, 秦永元, 卫育新, 等. 一种适用于SINS动基座初始对准的新算法[J]. 系统工程与电子技术, 2009, 31 (3): 634- 637. doi: 10.3321/j.issn:1001-506X.2009.03.036
	YAN G M , QIN Y Y , WEI Y X , et al. New initial alignment algorithm for SINS on moving base[J]. System Engineering and Electronics, 2009, 31 (3): 634- 637. doi: 10.3321/j.issn:1001-506X.2009.03.036
4	严恭敏, 翁浚, 白亮, 等. 基于惯性参考系的动基座初始对准与定位导航[J]. 系统工程与电子技术, 2011, 33 (3): 618- 623. doi: 10.3969/j.issn.1001-506X.2011.03.30
	YAN G M , WENG J , BAI L , et al. Initial in-movement alignment and position determination based on inertial reference frame[J]. System Engineering and Electronics, 2011, 33 (3): 618- 623. doi: 10.3969/j.issn.1001-506X.2011.03.30
5	陈鸿跃, 孙谦, 刘宇航. 一种里程计辅助车载捷联惯导行进间对准方法[J]. 导弹与航天运载技术, 2013, 328 (5): 44- 50.
	CHEN H Y , SUN Q , LIU Y H . SINS alignment algorithm for marching vehicles with the aid of distance-transfer-unit (DTU)[J]. Missiles and Space Vehicles, 2013, 328 (5): 44- 50.
6	WU M P , WU Y X , HU X P , et al. Optimization-based alignment for inertial navigation systems:theory and algorithm[J]. Aerospace Science and Technology, 2011, 15 (1): 1- 17. doi: 10.1016/j.ast.2010.05.004
7	WAHBA G . A least squares estimate of satellite attitude[J]. SIAM Review, 1965, 7 (3): 409- 409.
8	KEAT J . Analysis of least squares attitude determination routine DOAOP[M]. Silver Spring: Computer Science Corp, 1977.
9	MARKLEY F L , CRASSIDIS J L . Fundamentals of spacecraft attitude determination and control[M]. New York: Springer, 2014.
10	郭玉胜, 付梦印, 邓志红, 等. 晃动基座行进间对准问题的QUEST算法[J]. 中国惯性技术学报, 2017, 25 (2): 182- 185.
	GUO Y S , FU M Y , DENG Z H , et al. Application of QUEST algorithm dedicated on alignment of swaying and moving carrier[J]. Journal of Chinese Inertial Technology, 2017, 25 (2): 182- 185.
11	翁浚, 秦永元, 严恭敏, 等. 车载动基座FOAM对准算法[J]. 系统工程与电子技术, 2013, 35 (7): 1498- 1501.
	WENG J , QIN Y Y , YAN G M , et al. Vehicular moving-base FOAM alignment algorithm[J]. Systems Engineering and Electronics, 2013, 35 (7): 1498- 1501.
12	XU X , XU X S , YAO Y Q , et al. In-motion coarse alignment method based on reconstructed observation vectors[J]. Review of Scientific Instruments, 2017, 88 (3): 035001. doi: 10.1063/1.4977181
13	XU J N , HE H Y , QIN F J , et al. A novel autonomous initial alignment method for strapdown inertial navigation system[J]. IEEE Trans.on Instrumentation and Measurement, 2017, 66 (9): 2274- 2282. doi: 10.1109/TIM.2017.2692311
14	KANG L , YE L , SONG K . A fast in-motion alignment algorithm for DVL aided SINS[J]. Mathematical Problems in Engineering, 2014, 2014, 1- 12.
15	JIANG Y F, XIE B, WENG J.SINS in-motion alignment and position determination for land-vehicle based on quaternion Kalman filter[C]//Proc.of the 32nd Chinese Control Conference, 2013: 5083-5088.
16	CHANG L B , LI J S , CHEN S Y . Initial alignment by attitude estimation for strapdown inertial navigation systems[J]. IEEE Trans.on Instrumentation and Measurement, 2014, 54 (3): 784- 794.
17	WU Y X , WANG J L , HU D W . A new technique for INS/GNSS attitude and parameter estimation using online optimization[J]. IEEE Trans.on Signal Processing, 2014, 62 (10): 2642- 2655. doi: 10.1109/TSP.2014.2312317
18	塔高明, 宋来亮, 冉龙俊. 基于GPS和里程计的快速行进间粗对准方法[J]. 北京航空航天大学学报, 2017, 43 (1): 121- 127.
	TA G M , SONG L L , RAN L J . Rapid coarse alignment for marching vehicle based on GPS and odometer[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43 (1): 121- 127.
19	陈河.车载SINS自主对准与组合导航算法研究[D].西安:火箭军工程大学, 2018.
	CHEN H.Research on self-contained alignment and integration algorithms of SINS for land vehicles[D].Xi'an: Rocket Force University of Engineering, 2018.
20	CHANG L B , HE H Y , QIN F J . In-motion initial alignment for odometer aided strapdown inertial navigation system based on attitude estimation[J]. IEEE Sensors Journal, 2017, 17 (3): 766- 773. doi: 10.1109/JSEN.2016.2633428
21	LI W L , TANG K H , LU L Q , et al. Optimization-based INS in-motion alignment approach for underwater vehicles[J]. Optic-International Journal for Light and Electron Optics, 2013, 124 (20): 4581- 4585. doi: 10.1016/j.ijleo.2013.01.069
22	陈河, 张志利, 周召发, 等. 两种SINS惯性系四元数粗对准算法等价性分析[J]. 系统工程与电子技术, 2018, 49 (4): 16- 21.
	CHEN H , ZHANG Z L , ZHOU Z F , et al. Equivalence between two quaternion based coarse alignment algorithm for SINS with inertial frame[J]. Systems Engineering and Electronics, 2018, 49 (4): 16- 21.

[1]	Zhe LIANG, Zhaofa ZHOU, Zhihao XU, Wenting LYU, Hui DUAN. Angular rate attitude algorithm based on multi-interval information correction [J]. Systems Engineering and Electronics, 2022, 44(5): 1636-1643.
[2]	Yajie XU, Yong XIAN, Bangjie LI, Leliang REN, Shaopeng LI, Weilin GUO. Method for improving the precision of hypersonic vehicle inertial navigation system based on neural network [J]. Systems Engineering and Electronics, 2022, 44(4): 1301-1309.
[3]	Zhihao XU, Zhaofa ZHOU, Zhenjun CHANG, Qi GUO. Initial alignment method based on information reuse and algorithm fusion [J]. Systems Engineering and Electronics, 2021, 43(5): 1310-1315.
[4]	Renjie ZHAO, Kailong LI, Baiqing HU, Jiayu TIAN. SINS initial alignment algorithm based on improved quaternion damping error model [J]. Systems Engineering and Electronics, 2021, 43(11): 3330-3337.
[5]	Shiwen HAO, Zhili ZHANG, Zhaofa ZHOU, Zhenjun CHANG, Xianyi LIU. Influence of gravity disturbance on initial alignment of inertial navigation system [J]. Systems Engineering and Electronics, 2020, 42(7): 1575-1581.
[6]	CHANG Zhenjun, ZHANG Zhili, ZHOU Zhaofa, CHEN He, ZHAO Junyang. Alignment method of rotating SINS with swinging base [J]. Systems Engineering and Electronics, 2019, 41(9): 2087-2091.
[7]	WU Huali, XIAO Zhicai, ZHOU Dawang, WANG Lingling. SINS installation error matrix decoupling method based on matrix decomposition [J]. Systems Engineering and Electronics, 2018, 40(5): 1091-1097.
[8]	CHEN He, ZHANG Zhili, ZHOU Zhaofa, LIU Pengpeng, ZHAO Junyang. Equivalence analysis between two quaternion based coarse alignment algorithms for SINS with inertial frame [J]. Systems Engineering and Electronics, 2018, 40(5): 1098-1103.
[9]	WANG Jian, ZHANG Tao, TONG Jinwu, YAN Yaxiong. Application of KF/UPF in initial alignment of large azimuth misalignment of SINS#br# [J]. Systems Engineering and Electronics, 2018, 40(12): 2775-2781.
[10]	BEN Yueyang, SUN Yan, WANG Xiangyu, CHEN Hainan, YANG Lisheng, LIU Zhenghao. Method of coarse alignment during voyages of vessel SINS aided by satellites [J]. Systems Engineering and Electronics, 2018, 40(12): 2797-2803.
[11]	HU Jie, ZHU Yixian, SHI Xiaozhu. Estimation of azimuth gyro drifts with single-axis rotational SINS [J]. Systems Engineering and Electronics, 2018, 40(10): 2334-2339.
[12]	CHENG Jianhua, MOU Hongjie, SUN Xiangyu, CHEN Daidai. Dual axis rotational modulation method based on SINS tetrahedron redundancy configuration [J]. Systems Engineering and Electronics, 2017, 39(8): 1801-1807.
[13]	XUE Haijian, GUO Xiaosong, ZHOU Zhaofa. SINS initial alignment method based on adaptive multiple fading factors Kalman filter [J]. Systems Engineering and Electronics, 2017, 39(3): 620-626.
[14]	WANG Zhiwei, DI Changchun, YANG Gongliu, SHI Zhiyong, YANG Yuliang, WANG Fengjie. High precision dynamic zero velocity update for gun board SINS [J]. Systems Engineering and Electronics, 2017, 39(12): 2782-2789.
[15]	HUANG Xiang-yuan, TANG Xia-qing, WU Meng. Research on moving base initial alignment of SINS/OD with reduced dimension CKF and smoother [J]. Systems Engineering and Electronics, 2016, 38(9): 2135-2141.

Position updating and error analysis of SINS alignment for moving base

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 9

References 22

Related Articles 15

Recommended Articles

Metrics

Comments