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Open AccessArticle

A New Analytic Alignment Method for a SINS

School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
School of Computer Science and Electronic Engineering, University of Essex, Essex CO4 3SQ, UK
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Sensors 2015, 15(11), 27930-27953;
Received: 25 July 2015 / Revised: 3 October 2015 / Accepted: 28 October 2015 / Published: 4 November 2015
(This article belongs to the Special Issue Inertial Sensors and Systems)
PDF [1213 KB, uploaded 4 November 2015]


Analytic alignment is a type of self-alignment for a Strapdown inertial navigation system (SINS) that is based solely on two non-collinear vectors, which are the gravity and rotational velocity vectors of the Earth at a stationary base on the ground. The attitude of the SINS with respect to the Earth can be obtained directly using the TRIAD algorithm given two vector measurements. For a traditional analytic coarse alignment, all six outputs from the inertial measurement unit (IMU) are used to compute the attitude. In this study, a novel analytic alignment method called selective alignment is presented. This method uses only three outputs of the IMU and a few properties from the remaining outputs such as the sign and the approximate value to calculate the attitude. Simulations and experimental results demonstrate the validity of this method, and the precision of yaw is improved using the selective alignment method compared to the traditional analytic coarse alignment method in the vehicle experiment. The selective alignment principle provides an accurate relationship between the outputs and the attitude of the SINS relative to the Earth for a stationary base, and it is an extension of the TRIAD algorithm. The selective alignment approach has potential uses in applications such as self-alignment, fault detection, and self-calibration. View Full-Text
Keywords: SINS; self-alignment; initial alignment; analytic alignment; TRIAD SINS; self-alignment; initial alignment; analytic alignment; TRIAD

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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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Tan, C.; Zhu, X.; Su, Y.; Wang, Y.; Wu, Z.; Gu, D. A New Analytic Alignment Method for a SINS. Sensors 2015, 15, 27930-27953.

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