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Sensors 2017, 17(6), 1424; doi:10.3390/s17061424

Coarse Alignment Technology on Moving base for SINS Based on the Improved Quaternion Filter Algorithm

1,2,* , 1,2
,
1,2
,
1,2
and
1,2
1
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
2
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing 210096, China
*
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 31 May 2017 / Revised: 31 May 2017 / Accepted: 12 June 2017 / Published: 17 June 2017
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [4375 KB, uploaded 20 June 2017]   |  

Abstract

Initial alignment of the strapdown inertial navigation system (SINS) is intended to determine the initial attitude matrix in a short time with certain accuracy. The alignment accuracy of the quaternion filter algorithm is remarkable, but the convergence rate is slow. To solve this problem, this paper proposes an improved quaternion filter algorithm for faster initial alignment based on the error model of the quaternion filter algorithm. The improved quaternion filter algorithm constructs the K matrix based on the principle of optimal quaternion algorithm, and rebuilds the measurement model by containing acceleration and velocity errors to make the convergence rate faster. A doppler velocity log (DVL) provides the reference velocity for the improved quaternion filter alignment algorithm. In order to demonstrate the performance of the improved quaternion filter algorithm in the field, a turntable experiment and a vehicle test are carried out. The results of the experiments show that the convergence rate of the proposed improved quaternion filter is faster than that of the tradition quaternion filter algorithm. In addition, the improved quaternion filter algorithm also demonstrates advantages in terms of correctness, effectiveness, and practicability. View Full-Text
Keywords: strapdown inertial navigation system (SINS); coarse alignment; improved quaternion filter algorithm; Doppler velocity log (DVL) strapdown inertial navigation system (SINS); coarse alignment; improved quaternion filter algorithm; Doppler velocity log (DVL)
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Zhang, T.; Zhu, Y.; Zhou, F.; Yan, Y.; Tong, J. Coarse Alignment Technology on Moving base for SINS Based on the Improved Quaternion Filter Algorithm. Sensors 2017, 17, 1424.

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