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Sensors 2015, 15(10), 25520-25545; doi:10.3390/s151025520

An Improved Inertial Frame Alignment Algorithm Based on Horizontal Alignment Information for Marine SINS

1,* , 2,†
1,* and 1,†
College of Automation, Harbin Engineering University, Harbin, China
College of Information and Communication Engineering, Harbin Engineering University, Harbin, China
These authors contributed equally to this work.
Authors to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 13 May 2015 / Revised: 19 August 2015 / Accepted: 22 September 2015 / Published: 5 October 2015
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [1563 KB, uploaded 12 October 2015]   |  


In this paper, an improved inertial frame alignment algorithm for a marine SINS under mooring conditions is proposed, which significantly improves accuracy. Since the horizontal alignment is easy to complete, and a characteristic of gravity is that its component in the horizontal plane is zero, we use a clever method to improve the conventional inertial alignment algorithm. Firstly, a large misalignment angle model and a dimensionality reduction Gauss-Hermite filter are employed to establish the fine horizontal reference frame. Based on this, the projection of the gravity in the body inertial coordinate frame can be calculated easily. Then, the initial alignment algorithm is accomplished through an inertial frame alignment algorithm. The simulation and experiment results show that the improved initial alignment algorithm performs better than the conventional inertial alignment algorithm, and meets the accuracy requirements of a medium-accuracy marine SINS. View Full-Text
Keywords: SINS; alignment; dimension reduction GHF; inertial coordinate frame SINS; alignment; dimension reduction GHF; inertial coordinate frame

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Che, Y.; Wang, Q.; Gao, W.; Yu, F. An Improved Inertial Frame Alignment Algorithm Based on Horizontal Alignment Information for Marine SINS. Sensors 2015, 15, 25520-25545.

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