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An Improved In-Motion Coarse Alignment Method for SINS/GPS Integration with Initial Velocity Error Suppression

The integrated system with the strapdown inertial navigation system (SINS) and the global positioning system (GPS) is the most popular navigation mode. It has been used in many navigation fields. Before the integrated system works properly, it must determine the initial attitude for SINS. In SINS/GP...

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Autores principales: Wang, Yukun, Ning, Xiuli, Xu, Xiang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10098579/
https://www.ncbi.nlm.nih.gov/pubmed/37050722
http://dx.doi.org/10.3390/s23073662
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author Wang, Yukun
Ning, Xiuli
Xu, Xiang
author_facet Wang, Yukun
Ning, Xiuli
Xu, Xiang
author_sort Wang, Yukun
collection PubMed
description The integrated system with the strapdown inertial navigation system (SINS) and the global positioning system (GPS) is the most popular navigation mode. It has been used in many navigation fields. Before the integrated system works properly, it must determine the initial attitude for SINS. In SINS/GPS-integrated systems, the navigational velocity can be used to carry out the initial alignment when the system is installed in the in-motion vehicle. However, the initial velocity errors are not considered in the current popular in-motion alignment methods for SINS/GPS integration. It is well-known that the initial velocity errors must exist when the initial velocity is obtained from the GPS outputs. In this paper, an improved method was proposed to solve this problem. By analyzing the original observation vectors in the in-motion coarse alignment method, an average operation was used to construct the intermediate vectors, and the new observation vector can be calculated by subtracting the intermediate vector from the original observation vector. Then, the initial velocity errors can be eliminated from the newly constructed observation vector. Thus, the interferences of the initial velocity errors for the initial alignment process can be suppressed. The simulation and field tests are designed to verify the performance of the proposed method. The tests results showed that the proposed method can obtain the higher accurate results than the current methods when the initial velocity is considered. Additionally, the results of the proposed method were similar to the current methods when the initial velocity errors were not considered. This shows that the initial velocity errors were eliminated effectively by the proposed method, and the alignment accuracy were not decreased.
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spelling pubmed-100985792023-04-14 An Improved In-Motion Coarse Alignment Method for SINS/GPS Integration with Initial Velocity Error Suppression Wang, Yukun Ning, Xiuli Xu, Xiang Sensors (Basel) Article The integrated system with the strapdown inertial navigation system (SINS) and the global positioning system (GPS) is the most popular navigation mode. It has been used in many navigation fields. Before the integrated system works properly, it must determine the initial attitude for SINS. In SINS/GPS-integrated systems, the navigational velocity can be used to carry out the initial alignment when the system is installed in the in-motion vehicle. However, the initial velocity errors are not considered in the current popular in-motion alignment methods for SINS/GPS integration. It is well-known that the initial velocity errors must exist when the initial velocity is obtained from the GPS outputs. In this paper, an improved method was proposed to solve this problem. By analyzing the original observation vectors in the in-motion coarse alignment method, an average operation was used to construct the intermediate vectors, and the new observation vector can be calculated by subtracting the intermediate vector from the original observation vector. Then, the initial velocity errors can be eliminated from the newly constructed observation vector. Thus, the interferences of the initial velocity errors for the initial alignment process can be suppressed. The simulation and field tests are designed to verify the performance of the proposed method. The tests results showed that the proposed method can obtain the higher accurate results than the current methods when the initial velocity is considered. Additionally, the results of the proposed method were similar to the current methods when the initial velocity errors were not considered. This shows that the initial velocity errors were eliminated effectively by the proposed method, and the alignment accuracy were not decreased. MDPI 2023-03-31 /pmc/articles/PMC10098579/ /pubmed/37050722 http://dx.doi.org/10.3390/s23073662 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Wang, Yukun
Ning, Xiuli
Xu, Xiang
An Improved In-Motion Coarse Alignment Method for SINS/GPS Integration with Initial Velocity Error Suppression
title An Improved In-Motion Coarse Alignment Method for SINS/GPS Integration with Initial Velocity Error Suppression
title_full An Improved In-Motion Coarse Alignment Method for SINS/GPS Integration with Initial Velocity Error Suppression
title_fullStr An Improved In-Motion Coarse Alignment Method for SINS/GPS Integration with Initial Velocity Error Suppression
title_full_unstemmed An Improved In-Motion Coarse Alignment Method for SINS/GPS Integration with Initial Velocity Error Suppression
title_short An Improved In-Motion Coarse Alignment Method for SINS/GPS Integration with Initial Velocity Error Suppression
title_sort improved in-motion coarse alignment method for sins/gps integration with initial velocity error suppression
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10098579/
https://www.ncbi.nlm.nih.gov/pubmed/37050722
http://dx.doi.org/10.3390/s23073662
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