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A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm
In this paper, we proposed a coarse-alignment method for strapdown inertial navigation systems based on attitude determination. The observation vectors, which can be obtained by inertial sensors, usually contain various types of noise, which affects the convergence rate and the accuracy of the coars...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2018
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5795912/ https://www.ncbi.nlm.nih.gov/pubmed/29337895 http://dx.doi.org/10.3390/s18010239 |
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author | Zhu, Yongyun Zhang, Tao Xu, Xiang |
author_facet | Zhu, Yongyun Zhang, Tao Xu, Xiang |
author_sort | Zhu, Yongyun |
collection | PubMed |
description | In this paper, we proposed a coarse-alignment method for strapdown inertial navigation systems based on attitude determination. The observation vectors, which can be obtained by inertial sensors, usually contain various types of noise, which affects the convergence rate and the accuracy of the coarse alignment. Given this drawback, we studied an attitude-determination method named optimal-REQUEST, which is an optimal method for attitude determination that is based on observation vectors. Compared to the traditional attitude-determination method, the filtering gain of the proposed method is tuned autonomously; thus, the convergence rate of the attitude determination is faster than in the traditional method. Within the proposed method, we developed an iterative method for determining the attitude quaternion. We carried out simulation and turntable tests, which we used to validate the proposed method’s performance. The experiment’s results showed that the convergence rate of the proposed optimal-REQUEST algorithm is faster and that the coarse alignment’s stability is higher. In summary, the proposed method has a high applicability to practical systems. |
format | Online Article Text |
id | pubmed-5795912 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2018 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-57959122018-02-13 A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm Zhu, Yongyun Zhang, Tao Xu, Xiang Sensors (Basel) Article In this paper, we proposed a coarse-alignment method for strapdown inertial navigation systems based on attitude determination. The observation vectors, which can be obtained by inertial sensors, usually contain various types of noise, which affects the convergence rate and the accuracy of the coarse alignment. Given this drawback, we studied an attitude-determination method named optimal-REQUEST, which is an optimal method for attitude determination that is based on observation vectors. Compared to the traditional attitude-determination method, the filtering gain of the proposed method is tuned autonomously; thus, the convergence rate of the attitude determination is faster than in the traditional method. Within the proposed method, we developed an iterative method for determining the attitude quaternion. We carried out simulation and turntable tests, which we used to validate the proposed method’s performance. The experiment’s results showed that the convergence rate of the proposed optimal-REQUEST algorithm is faster and that the coarse alignment’s stability is higher. In summary, the proposed method has a high applicability to practical systems. MDPI 2018-01-16 /pmc/articles/PMC5795912/ /pubmed/29337895 http://dx.doi.org/10.3390/s18010239 Text en © 2018 by the authors. 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 (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Zhu, Yongyun Zhang, Tao Xu, Xiang A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm |
title | A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm |
title_full | A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm |
title_fullStr | A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm |
title_full_unstemmed | A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm |
title_short | A Coarse-Alignment Method Based on the Optimal-REQUEST Algorithm |
title_sort | coarse-alignment method based on the optimal-request algorithm |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5795912/ https://www.ncbi.nlm.nih.gov/pubmed/29337895 http://dx.doi.org/10.3390/s18010239 |
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