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In this paper, a improved inertial frame alignment algorithm is proposed, which significantly improves the accuracy and time cost of the traditional inertial frame coarse alignment algorithm. Firstly, a dimensionality reduction Gauss-Hermite filter algorithm is employed in the horizontal fine alignment phase. Secondly, according to the feature of the gravity, that the horizontal components of the...
The rotation method of the rotary inertial navigation system contains rotating and static states. The rotary angular rate changes all the time. The changing rotary angular rate has an impact on the inertial measurement errors self-compensation. This paper focuses on the rotary SINS accuracy influenced by the rotary angular rate and acceleration. The relationship between the system positioning accuracy...
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...
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...
The paper derived the initial alignment error equation of the SINS (strapdown inertial navigation system) when the azimuth errors are considerably large. Because of including the nonlinear part in the equation, two methods of extended Kalman filter and scaled unscented Kalman filter are used to simulate the nonlinear system. The simulation results show that the accuracy of scaled unscented Kalman...
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