Next Article in Journal
Hierarchical Activity Recognition Using Smart Watches and RGB-Depth Cameras
Next Article in Special Issue
Advanced Pedestrian Positioning System to Smartphones and Smartwatches
Previous Article in Journal
An Efficient Recommendation Filter Model on Smart Home Big Data Analytics for Enhanced Living Environments
Previous Article in Special Issue
Design of a Piezoelectric Accelerometer with High Sensitivity and Low Transverse Effect
Article Menu

Export Article

Open AccessArticle
Sensors 2016, 16(10), 1714; doi:10.3390/s16101714

Coarse Alignment of Marine Strapdown INS Based on the Trajectory Fitting of Gravity Movement in the Inertial Space

Marine Navigation Research Institute, College of Automation, Harbin Engineering University, Harbin 150001, China
*
Authors to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 21 July 2016 / Revised: 29 September 2016 / Accepted: 9 October 2016 / Published: 15 October 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
View Full-Text   |   Download PDF [2058 KB, uploaded 15 October 2016]   |  

Abstract

A ship experiences the random motion of sea waves during its travels. Hence, the coarse alignment of the marine strapdown Inertial Navigation System (INS) suffers from rocking disturbances such as pitch and roll. In this paper, a novel approach of marine coarse alignment was proposed for avoiding the resulting loss of accuracy from rocking disturbances. Unlike several current techniques, our alignment scheme is intuitional and concise. Moreover, the coarse alignment can be implemented without any external information. The gravity vector and its derivative expressed within the inertial frame can describe the attitude matrix between an inertial frame and the local geographic frame. We address the challenge of calculating the gravity derivative by the least-squares fitting of the trajectory of the gravity movement in the inertial frame. Meanwhile, the integration of angular rates measured by gyroscopes allows one to compute the attitude matrix between the inertial frame and the body frame. The coarse alignment can be thus accomplished by the combination of the above two attitude matrices. The experimental results show that the coarse alignment is effective with high accuracy and stability for demanding marine applications. View Full-Text
Keywords: coarse alignment; Inertial Navigation System (INS); gravity vector; inertial frame; marine applications; least-squares fitting of spatial circle coarse alignment; Inertial Navigation System (INS); gravity vector; inertial frame; marine applications; least-squares fitting of spatial circle
Figures

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).

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

Zhao, L.; Guan, D.; Cheng, J.; Xu, X.; Fei, Z. Coarse Alignment of Marine Strapdown INS Based on the Trajectory Fitting of Gravity Movement in the Inertial Space. Sensors 2016, 16, 1714.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

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