Next Article in Journal
A Soft-Hard Combination-Based Cooperative Spectrum Sensing Scheme for Cognitive Radio Networks
Next Article in Special Issue
Magnetometer-Augmented IMU Simulator: In-Depth Elaboration
Previous Article in Journal
A Choline Oxidase Amperometric Bioassay for the Detection of Mustard Agents Based on Screen-Printed Electrodes Modified with Prussian Blue Nanoparticles
Previous Article in Special Issue
A Simultaneously Calibration Approach for Installation and Attitude Errors of an INS/GPS/LDS Target Tracker
Article Menu

Export Article

Open AccessArticle
Sensors 2015, 15(2), 4368-4387; doi:10.3390/s150204368

A Stationary North-Finding Scheme for an Azimuth Rotational IMU Utilizing a Linear State Equality Constraint

1
Department of Navigation and Communication, Navy Submarine Academy, Qingdao 266042, China
2
College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China
3
College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, China
*
Author to whom correspondence should be addressed.
Received: 1 December 2014 / Revised: 15 January 2015 / Accepted: 5 February 2015 / Published: 13 February 2015
(This article belongs to the Special Issue Inertial Sensors and Systems)
View Full-Text   |   Download PDF [1200 KB, uploaded 13 February 2015]   |  

Abstract

The Kalman filter (KF) has always been used to improve north-finding performance under practical conditions. By analyzing the characteristics of the azimuth rotational inertial measurement unit (ARIMU) on a stationary base, a linear state equality constraint for the conventional KF used in the fine north-finding filtering phase is derived. Then, a constrained KF using the state equality constraint is proposed and studied in depth. Estimation behaviors of the concerned navigation errors when implementing the conventional KF scheme and the constrained KF scheme during stationary north-finding are investigated analytically by the stochastic observability approach, which can provide explicit formulations of the navigation errors with influencing variables. Finally, multiple practical experimental tests at a fixed position are done on a postulate system to compare the stationary north-finding performance of the two filtering schemes. In conclusion, this study has successfully extended the utilization of the stochastic observability approach for analytic descriptions of estimation behaviors of the concerned navigation errors, and the constrained KF scheme has demonstrated its superiority over the conventional KF scheme for ARIMU stationary north-finding both theoretically and practically. View Full-Text
Keywords: rotational IMU; north-finding; Kalman filter; stochastic observability rotational IMU; north-finding; Kalman filter; stochastic observability
Figures

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).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Yu, H.; Zhu, H.; Gao, D.; Yu, M.; Wu, W. A Stationary North-Finding Scheme for an Azimuth Rotational IMU Utilizing a Linear State Equality Constraint. Sensors 2015, 15, 4368-4387.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top