In order to solve the strapdown inertial navigation system (INS) alignment problem under marine mooring condition, rapid INS fine method is proposed. This uses gravity in frame deal with lineal and angular disturbances. Also forward backward processes for calculation filter estimation are designed. Making use of repeatedly process saved measurement unit (IMU) data sequence could quickly obtain initial attitude matrix. Simulation trial test validate performance proposed alignment.

A robust leader-slave cooperative navigation (CN) algorithm for autonomous underwater vehicles (AUVs) based on the Student's t extended Kalman filter (SEKF) is proposed. Compared with conventional EKF a Gaussian distributed noise assumption, which has been widely used in field of CN, t-based filtering algorithms show an improved robustness against outliers existing process and measurement noises. The utilization distribution can minimize negative effect induced by acoustic communication...

Abstract The magnetic field serves as a crucial source of navigational information, typically measured by magnetometers in practical applications. However, are inherently unstable instruments that require error compensation before formal use. Drawing inspiration from the system-level calibration approach gyroscopes, this paper proposes method for magnetometers. By leveraging high-precision external attitude effectively measures installation errors between magnetometer’s three axes and...

The transversal coordinate system has been proposed to solve the problem of navigation in Polar Region for a strapdown inertial (INS). However, it is assumed that Earth perfect sphere system, which not accurate high-precision INS. To this problem, we consider as reference ellipsoid and then deduct its radii curvature our system. In addition, with aid Bessel geodetic projection method, transformations quantities from local-level are derived based on ellipsoid. Numerical results indicate...

Conventional attitude algorithms for strapdown inertial navigation system (SINS) use angular increment as algorithm input. However, these do not address the issue of rate which is output modern-day gyro. The integration purpose getting degrades performance inevitably. To solve this problem, a generalized method improved coning proposed. input and estimate term with cross product rates. Simulations are carried out under motion. While used input, accuracy computation can be effectively by...

We need to predict mathematical model of the system and a priori knowledge noise statistics when traditional simultaneous localization mapping (SLAM) solutions are used. However, in many practical applications, prior unknown or time-varying, which will lead large estimation errors even cause divergence. In order solve above problem, an innovative cubature Kalman filter-based SLAM (CKF-SLAM) algorithm based on adaptive filter (ACKF) was established this paper. The novel estimates statistical...

Terrain-aided navigation (TAN) system implemented with a single beam echo sounder (SBES) has shown potential for long-term accurate aboard autonomous underwater vehicles (AUVs), without external navigational aids in the form of acoustic or satellite positioning methods. However, SBES limited observational capability makes accuracy TAN highly dependent on resolution an priori map, and number terrain features. To achieve stable information even areas above-mentioned limitations, this article...

Initial alignment is one of the key technologies inertial navigation. The initial precision affects navigation result. Researches show that result depends on observability system state variables. So it's necessary to enhance states improve accuracy and speed. A positioning method based dual-axis rotating strapdown (SINS) introduced in this paper which enhances improves degree by changing error model matrix periodically. PWCS (Piece-Wise Constant System) SVD (Singular Value Decomposition) are...

Common mechanizations are not applicable for a marine strapdown Inertial Navigation System (INS) in Polar Region. Aiming at this problem, transversal INS mechanization and corresponding damping technology proposed paper to replace common mechanizations. The coordinate system is constructed the of INS, then an error analysis performed. reveals fact that also includes three kinds periodic oscillating errors as INS. To restrain errors, equalizers designed with reference velocity compensating...

The strapdown inertial navigation system that uses the aiding velocities from a relative log is usually affected by ocean current. Therefore, dual-state filter algorithm to alleviate effect unknown current proposed in this article. Generally speaking, ocean-current velocity relatively stable, other words, two adjacent samples over short period can be considered unchanged. Consequently, our chooses difference between sample points as external measurement information of integrated system,...

In order to improve the accuracy of strapdown inertial navigation system, constant drift gyro and bias accelerometer in measurement unit (IMU) will be translated into periodic signal by rotation IMU, undesirable effects drifts components can eliminated integral operations. The uniaxial unidirectional reciprocating rotary compensation methods are listed this paper, principle is also derived. According scale error installation components, characteristics two modes analysed simulated....

In order to solve the problem of a strapdown Inertial Navigation System (INS) under vibrating base, ground fine alignment method is proposed in this paper, and it about reconstructing error equations INS. method, effects aroused by linear angular vibration are considered as system measurement noise; addition, they also regarded components matrix. This setting avoids base. The results simulation experiment show that our suitable for INS