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| Received:January 02, 2004Revised:May 08, 2005 |
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| A fast and accurate initial alignment method for strapdown inertial navigation system on stationary base |
| Xinlong WANG, Gongxun SHEN |
| (School of Astronautics,Beijing University of Aeronautics and Astronau tics,Beijing 100083,China) |
| Abstract: |
| In this work,a fast an d accurate stationary alignment method for strapdown inertial navigation system (SINS) is proposed.It h as been demonstrated that the stationary alignment o f SINS can be improved by employing the multipositio n technique,but the alignment time of the azimuth error is relatively longer.Over here,the two-posi tion alignment principle is presented.On the basis of this SINS error model,a fast estimation algorithm of the azimuth error for the initial a lignment of SINS on stationary base is derived f ully from the horizontal velocity outputs and the output rates,and the novel azimuth error estimatio n algorithm is used for the two-position alignment. Consequently,the speed and accuracy of the SINS' s initial alignment is enhanced greatly.The computer simulation results illustrate the efficiency of this alignment method. |
| Key words: Strapdown inertial navigation syst em (SINS) Initial alignment Kalman filter Observability |
