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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...
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...
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...
As for in-motion alignment of strapdown inertial navigation system (SINS), two groups of nonlinear filtering approaches are compared in this paper: Gaussian approximation and Monte Carlo simulation. The former group, consisting of the extended kalman filter (EKF) and unscented kalman filter (UKF), approximates probability densities of nonlinear systems using either single or multiple points in a state...
The problem of adjusting parameters with a separate-bias Kalman filter is addressed for improving the alignment performance of strapdown inertial navigation system (SINS). To reduce the load of navigation computer, the technique of separate bias is implemented. The influence of initial condition and noise covariance on separate-bias Kalman filter is analyzed. The adjustment method using which the...
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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