Title :
Study on Initial Alignment for Inertial Navigation System
Author :
Li Qing ; Yang Peipei
Author_Institution :
Inst. of Intell. Control, Univ. of Beijing Inf. Sci. & Technol., Beijing, China
Abstract :
The algorithms and the applications of static base initial alignment method of inertial navigation system are presented. Kalman filtering is used in initial alignment method. The math platform error angles ¿N, ¿E, ¿D are estimated form random error and random disturbance, while the gyro drifts and accelerometer bias are estimated, and the system platform coordinate and navigation coordinate are alignment through calibrating by kalman filter. Examples with actual experiment demonstrate that the method has apparent superiority, the system alignment error angles precision is improved from ¿N = ¿E = ¿D =0.28°to ¿N, = ¿E =0.027°, ¿D = 0.014° and the system alignment time is shortened from 170s to 20s.
Keywords :
Kalman filters; inertial navigation; random processes; Kalman filtering; accelerometer bias; gyro drifts; inertial navigation system; math platform error angles; random disturbance; random error; static base initial alignment method; system alignment error angles precision; system alignment time; system platform coordinate; Accelerometers; Computer errors; Control systems; Earth; Equations; Error correction; Filtering; Inertial navigation; Intelligent control; Kalman filters;
Conference_Titel :
Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4994-1
DOI :
10.1109/ICIECS.2009.5364370
