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Kalman Filter Design for Initial Precision Alignment of a Strapdown Inertial Navigation System on a Rocking Base

Published online by Cambridge University Press:  18 September 2014

Hanzhou Li ,
Quan Pan ,
Xiaoxu Wang ,
Xiangjun Jiang  and
Lin Deng
Hanzhou Li*
Affiliation:
(College of Automation, Northwestern Polytechnical University, China)
Quan Pan
Affiliation:
(College of Automation, Northwestern Polytechnical University, China)
Xiaoxu Wang
Affiliation:
(College of Automation, Northwestern Polytechnical University, China)
Xiangjun Jiang
Affiliation:
(The 16th Institute of the Ninth Academy, China Aerospace Science and Technology Corporation, China)
Lin Deng
Affiliation:
(The 16th Institute of the Ninth Academy, China Aerospace Science and Technology Corporation, China)
*
(E-mail: lihanzhousins@163.com)
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Abstract

In this paper, a conventional Strapdown Inertial Navigation System (SINS) alignment method on a disturbed base is analysed. A novel method with an attitude tracking idea is proposed for the rocking base alignment. It is considered in this method that the alignment algorithm should track the rocking base attitude real changes in the alignment process, but not excessively restrain disturbance. According to this idea, a rapid alignment algorithm is devised for the rocking base. In the algorithm, coarse alignment is carried out within 30 s in the inertial frame with alignment precision less than 2°, which meets Kalman filter linearization conditions well. Then a Kalman filter with ten state vectors and four measurement vectors is applied for the fine alignment to improve the capability of the algorithm in tracking the vehicle attitude. A turntable rotation experiment is carried out to validate the capability of the fine algorithm in tracing the large magnitude change during alignment. It is shown that the repeated alignment precision is about 0·04° by the alignment experiment on a rocking vehicle, with alignment time of 180 s. The Laser Strapdown Inertial Navigation System (LINS) ground navigation experiment suggests that the algorithm proposed by this paper can be satisfied without the need of high precision SINS alignment.

Keywords

SINSInitial alignmentKalman filterTracking
Type
Research Article
Information
The Journal of Navigation , Volume 68 , Issue 1 , January 2015 , pp. 184 - 195
Copyright
Copyright © The Royal Institute of Navigation 2014 

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