Next Article in Journal
On the Slow-Time k-Space and its Augmentation in Doppler Radar Tomography
Previous Article in Journal
Multiplexed Remote SPR Detection of Biological Interactions through Optical Fiber Bundles
Open AccessArticle

A New In-Flight Alignment Method with an Application to the Low-Cost SINS/GPS Integrated Navigation System

1
National Key Laboratory for Electronic Measurement Technology, North University of China, Taiyuan 030051, China
2
Key Laboratory of Instrumentation Science & Dynamic Measurement, North University of China, Taiyuan 030051, China
3
School of Electrical Control Engineering, North University of China, Taiyuan 030051, China
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(2), 512; https://doi.org/10.3390/s20020512
Received: 23 December 2019 / Revised: 13 January 2020 / Accepted: 14 January 2020 / Published: 16 January 2020
(This article belongs to the Section Physical Sensors)
The optimization-based alignment (OBA) methods, which are implemented by the optimal attitude estimation using vector observations—also called double-vectors—have proven to be effective at solving the in-flight alignment (IFA) problem. However, the traditional OBA methods are not applicable for the low-cost strap-down inertial navigation system (SINS) since the error of double-vectors will be accumulated over time due to the substantial drift of micro-electronic- mechanical system (MEMS) gyroscope. Moreover, the existing optimal estimation method is subject to a large computation burden, which results in a low alignment speed. To address these issues, in this article we propose a new fast IFA method based on modified double-vectors construction and the gradient descent method. To be specific, the modified construction method is implemented by reducing the integration interval and identifying the gyroscope bias during the construction procedure, which improves the accuracy of double-vectors and IFA; the gradient descent scheme is adopted to estimate the optimal attitude of alignment without complex matrix operation, which results in the improvement of alignment speed. The effect of different sizes of mini-batch on the performance of the gradient descent method is also discussed. Extensive simulations and vehicle experiments demonstrate that the proposed method has better accuracy and faster alignment speed than the related traditional methods for the low-cost SINS/global positioning system (GPS) integrated navigation system View Full-Text
Keywords: in-flight alignment; integrated navigation system; optimization-based alignment in-flight alignment; integrated navigation system; optimization-based alignment
Show Figures

Figure 1

MDPI and ACS Style

Lu, Z.; Li, J.; Zhang, X.; Feng, K.; Wei, X.; Zhang, D.; Mi, J.; Liu, Y. A New In-Flight Alignment Method with an Application to the Low-Cost SINS/GPS Integrated Navigation System. Sensors 2020, 20, 512.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop