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Initial Alignment for SINS Based on Pseudo-Earth Frame in Polar Regions

College of Automation, Harbin Engineering University, Harbin 150001, China
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Sensors 2017, 17(6), 1416; https://doi.org/10.3390/s17061416
Received: 11 April 2017 / Revised: 11 June 2017 / Accepted: 14 June 2017 / Published: 16 June 2017
(This article belongs to the Section Physical Sensors)
An accurate initial alignment must be required for inertial navigation system (INS). The performance of initial alignment directly affects the following navigation accuracy. However, the rapid convergence of meridians and the small horizontalcomponent of rotation of Earth make the traditional alignment methods ineffective in polar regions. In this paper, from the perspective of global inertial navigation, a novel alignment algorithm based on pseudo-Earth frame and backward process is proposed to implement the initial alignment in polar regions. Considering that an accurate coarse alignment of azimuth is difficult to obtain in polar regions, the dynamic error modeling with large azimuth misalignment angle is designed. At the end of alignment phase, the strapdown attitude matrix relative to local geographic frame is obtained without influence of position errors and cumbersome computation. As a result, it would be more convenient to access the following polar navigation system. Then, it is also expected to unify the polar alignment algorithm as much as possible, thereby further unifying the form of external reference information. Finally, semi-physical static simulation and in-motion tests with large azimuth misalignment angle assisted by unscented Kalman filter (UKF) validate the effectiveness of the proposed method. View Full-Text
Keywords: polar alignment; pseudo-Earth frame; backward process; global inertial navigation system; nonlinear filtering model polar alignment; pseudo-Earth frame; backward process; global inertial navigation system; nonlinear filtering model
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Gao, Y.; Liu, M.; Li, G.; Guang, X. Initial Alignment for SINS Based on Pseudo-Earth Frame in Polar Regions. Sensors 2017, 17, 1416.

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