150 / 2016-11-10 23:18:56

Optimization-based in-motion Alignment for Rotation INS in GPS-Challenging Environments

optimization-based; In-motion alignment; rotation inertial navigation system; GPS-Challenging environments

The optimization-based alignment (OBA) method can obtain an optical initial attitude by constructing series vector observations. This method does not require the coarse alignment and is effective with any initial large misalignment angle. The proposed in-motion alignment (IMA) method is derived from the OBA method and constructs a mathematical platform to isolate the carrier’s motion with the measurements of gyros, accelerators and GPS. There are two contributions in this study. First the OBA method is extended to rotational INS (RINS) to reduce the effect of gyros and accelerators biases on alignment precision. Second the proposed IMA method compensate acceleration of maneuver by using the information of the RINS/GPS integration when the GPS is in challenging environments such as complex urban road conditions or GPS signal blind areas. This study is expected to improve the alignment accuracy and enhance the environment adaptability.