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In-motion Alignment Algorithm for Vehicle Carried SINS Based on Odometer Aiding

Published online by Cambridge University Press:  21 June 2017

Haijian Xue ,
Xiaosong Guo ,
Zhaofa Zhou  and
Kunming Wang
Haijian Xue*
Affiliation:
(High-Tech Institute of Xi'an, Xi'an 710025, China)
Xiaosong Guo
Affiliation:
(High-Tech Institute of Xi'an, Xi'an 710025, China)
Zhaofa Zhou
Affiliation:
(High-Tech Institute of Xi'an, Xi'an 710025, China)
Kunming Wang
Affiliation:
(High-Tech Institute of Xi'an, Xi'an 710025, China)
*
(E-mail: [email protected])
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Abstract

In-motion alignment plays an important role in improving the manoeuvring capability of a vehicle, and allows the initialisation of a Strapdown Inertial Navigation System (SINS) while moving. Odometer (OD) aided in-motion alignment is widely adopted owing to its fully self-contained characteristic. This paper proposes a complete in-motion alignment algorithm for a vehicle-carried SINS based on odometer aiding, in which an in-motion coarse alignment method using the integration form of the velocity update equation in the body frame to give a rough initial angle is introduced and a new measurement equation in the body frame with a Kalman filter (KF) for the in-motion fine alignment is established. The advantages of the proposed method are verified by simulation and measured data.

Keywords

In-motion alignmentOdometer (OD)Attitude optimisationKalman filter (KF)
Type
Research Article
Information
The Journal of Navigation , Volume 70 , Issue 6 , November 2017 , pp. 1349 - 1366
Copyright
Copyright © The Royal Institute of Navigation 2017 

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