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Open AccessArticle

Improved Multistage In-Motion Attitude Determination Alignment Method for Strapdown Inertial Navigation System

by Haiyan Qiao 1,3, Meng Liu 1,2,*, Hao Meng 1, Mengjun Wang 3 and Wei Ke 3
1
College of Automation, Harbin Engineering University, Harbin 150001, China
2
Tianjin Navigation Instrument Research Institute, Tianjin 300131, China
3
Hebei Hanguang Industry Co., Ltd., Handan 056000, China
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(20), 4568; https://doi.org/10.3390/s19204568
Received: 17 September 2019 / Revised: 13 October 2019 / Accepted: 17 October 2019 / Published: 21 October 2019
(This article belongs to the Section Physical Sensors)
This paper derives an improved multistage in-motion attitude determination alignment (IMADA) for strapdown inertial navigation system, which integrates the traditional IMADA and the designed dual velocity-modeling IMADA, as well as the multiple repeated alignment process, to address the principled model errors and the calculation errors of traditional V b -aided IMADA. With the proposed algorithm, not only the designed drawbacks of traditional V b -based IMADA can be solved, but also the degradation phenomenon of high-level alignment for multistage IMADA would be largely less. Moreover, the degradation of the alignment accuracy with the vehicle velocity is also removed. Finally, the 30 groups of car-mounted experiments and the Monte Carlo simulation experiments with the navigation-grade SINS are carried out to demonstrate the validity of the proposed algorithm. The results show that the number of the heading degradation of the second-level alignment is reduced to 10 as compared the traditional number 20. Moreover, the alignment accuracy of heading is improved by 23%. Even with the different speeds of 20 m/s, 60 m/s, 80 m/s, the heading alignment accuracies are 1.3063°, 1.3102°, 1.3564° and are still almost the same. View Full-Text
Keywords: initial alignment; In-Motion Attitude Determination Alignment (IMADA); dual velocity-modeling IMADA alignment; multistage alignment initial alignment; In-Motion Attitude Determination Alignment (IMADA); dual velocity-modeling IMADA alignment; multistage alignment
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Qiao, H.; Liu, M.; Meng, H.; Wang, M.; Ke, W. Improved Multistage In-Motion Attitude Determination Alignment Method for Strapdown Inertial Navigation System. Sensors 2019, 19, 4568.

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