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Sensors 2018, 18(1), 195; https://doi.org/10.3390/s18010195

An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design Method

College of Automation, Harbin Engineering University, Harbin 150001, China
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Received: 2 November 2017 / Revised: 24 December 2017 / Accepted: 10 January 2018 / Published: 11 January 2018
(This article belongs to the Special Issue Inertial Sensors for Positioning and Navigation)
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Abstract

An improved coarse alignment (ICA) algorithm is proposed in this paper with a focus on improving alignment accuracy of odometer-aided strapdown inertial navigation system (SINS) under variable velocity and variable acceleration condition. In the proposed algorithm, the outputs of inertial sensors and odometer in a sampling interval are linearized rather than assumed to be a constant, which improves the accuracy of the vector observations and the precision of coarse alignment. Simulation and field test results illustrate that, under variable velocity and variable acceleration condition, the proposed algorithm can obtain a better alignment performance than conventional coarse alignment method. View Full-Text
Keywords: odometer-aided SINS; linear approximation; coarse alignment; optimized alignment odometer-aided SINS; linear approximation; coarse alignment; optimized alignment
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Zhang, Y.; Luo, L.; Fang, T.; Li, N.; Wang, G. An Improved Coarse Alignment Algorithm for Odometer-Aided SINS Based on the Optimization Design Method. Sensors 2018, 18, 195.

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