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In order improve the performance of Strapdown Inertial Navigation System (SINS) alignment in moorage, a novel alignment method is proposed. With the aid of a cascade low-pass FIR filter, the gravity vector is separated from the measurements of accelerometers due to the high frequency characteristic of the disturbance accelerations and the low frequency characteristic of the gravity vector. Two non-collinear...
In order to satisfy the calibration precision of fiber optic gyro units used in the strap-down inertial navigation system, this paper proposes a combination calibration method. First, according to the characteristics of high precision turntable positioning, a static discrete calibration is proposed. It makes use of the Earth's rotational speed and a special calibration path to calibrate the fiber...
In this paper, the issue of fine alignment method about Doppler-assisted Strapdown inertial navigation system is studied. The main errors of the typical fine alignment method are analysed. The problem of the typical fine alignment method is the speeds measured by Doppler velocity log have to be transformed from the body frame to the navigation frame. But the relationship between the body frame and...
Regarding the problem of the Autonomous Underwater Vehicle (AUV) departing from the mother ship and starting up, this paper proposed a divided difference filter (DDF) basing on the Stirling interpolation formula. When AUV separated from the mother ship and restarted, the coarse alignment was not ideal. Its level misalignment error precision was high, but its heading misalignment error precision was...
The accuracy of SINS (strapdown navigation system) related with the gyro tightly, so improving the accuracy of gyro is very urgent. There are two main ways of improving the accuracy currently. One is improving the physical structure which is not practical in our daily research, and the other is modeling the gyro's error by a series of testing and compensating the gyro on the basis of error model which...
Zero Velocity Update (ZUPT) utilizes the zero velocity condition for stationary Strapdown Inertial Navigation System (SINS), executes navigation errors estimation and emendation to control SINS position growth. The improved filter estimation ZUPT is proposed in this paper. Two technologies, separate-bias Kalman filter and yaw error rapid estimation, are applied in the proposed method. Separate-bias...
In order to improve the accuracy of strapdown inertial navigation system, the constant drift of gyro and the bias of accelerometer in inertial measurement unit (IMU) will be translated into periodic signal by the rotation of IMU, and the undesirable effects of constant drifts of inertial components can be eliminated by integral operations. The uniaxial unidirectional and reciprocating rotary compensation...
A seamless changing method for AUV integrated navigation system was proposed considering the SINS/DVL and Compass/DVL integrated navigation method have their own advantage for linear motion and curvilinear motion. Bearing consistent check combining with the measure remnant method was discussed as the maneuver checking method, and the adaptive Kalman filter was used by SINS/DVL integrated navigation...
The optimal two-position alignment using Kalman filter is newly derived for strapdown inertial navigation system (SINS). During the alignment process, SINS is rotated with respect to the heading axis. The Kalman filter estimates the misalignments and gyro drifts at these two positions. In terms of the relationship between yaw misalignments and gyro drifts, the horizontal gyro drifts can be computed...
Researching on the static error of strapdown inertial navigation system (SINS) plays a great role in the past. This is mainly due to the complex mathematical model for dynamic error of SINS. It is hard to do the error analysis from the perspective of the number. So in most cases, the static model owns the better position in the research for its desirable and concise. It is easy to know the impact...
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