RodFIter is a promising method of attitude reconstruction from inertial measurements based on the functional iterative integration Rodrigues vector. The vector used to encode in place popular rotation because it has polynomial-like rate equation and could be cast into theoretically sound exact integration. This paper further applies approach unity-norm quaternion for reconstruction, named QuatFIter, shows that identical previous Picard-type method. Chebyshev polynomial approximation...

This paper presents a reliable in-motion alignment algorithm for low cost Strapdown Inertial Navigation System/Global Positioning System (SINS/GPS) combination under random misalignment angles, which transforms attitude into an estimation problem. Based on Rodrigues parameters, model with linear state-space equation and second order nonlinear measurement is established. Furthermore, by employing Taylor expansion the equation, we implement Extended Kalman Filter (EKF2). The proposed method...

Reverse navigation algorithms are deduced in detailed based on the classical strapdown inertial system (SINS) updating algorithms. The scheme of SINS gyro-compass in-movement alignment is proposed and divided into three steps, including level with header uncertainty, coarse for header. On assumption computer having large memory powerful computing ability, connection between vehicle position determining established by reverse algorithm. After process saving sensorpsilas sample data to memory,...

For a strap-down inertial navigation system (SINS), traditional frame switching mechanization can be used to solve the all-Earth problem, however, this kind of method suffers from complex and discontinuous algorithms. On basis improving vertical channel damping technology, complete unified scheme arranged in Earth-centered Earth-fixed (ECEF) is designed as an alternative for global applications, which results simpler continuous algorithm lower computational complexity. We also propose...

In the transfer alignment process of inertial navigation systems (INSs), conventional linear error model based on small misalignment angle assumption cannot be applied to large situations. Furthermore, nonlinear suffers from redundant computation with filters. This paper presents a unified for suitable arbitrary angles. The problem is transformed into an estimation relative attitude between master INS (MINS) and slave (SINS), by decomposing matrix latter. Based Rodriguez parameters, in frame...

According to the Kalman filter equations, an error distribution formula of state estimation is deduced, which includes influence initial variance matrix, system noise matrix and measurement matrix. A new definition degree observability, computing method, criteria judge level observability are also proposed. The concept can be used visualize over time. Combined with analysis main factors affecting given, optimize design reduce errors. proposed algorithm applied alignment simulation strapdown...

In order to solve the problems of heavy computational load and poor real time information fusion method based on federated Kalman filter (FKF), a novel complementary is proposed for strapdown inertial navigation (SINS)/celestial system (CNS)/global positioning (GPS) integrated an aerospace plane. The filters are designed achieve estimations attitude, velocity, position in SINS/CNS/GPS system, respectively. simulation results show that can effectively realize fusion. Compared with FKF, (CF)...

The performance of tactical weapons inertial navigation system (INS) greatly depends on the accuracy and rapidity transfer alignment (TA). major challenge is estimation attitude INS rapidly accurately, under condition random initial misalignment angles launch time constraint in scenarios. objective this paper to derive a unified nonsingular scheme for rapid TA at angles, which transforms problem into relative matrix between master slave INS. Employing as estimate state, we formulate linear...

The absolute three-dimensional position of a longwall shearer is fundamental to mining automation. positioning the usually realized by inertial navigation system (INS) and odometer (OD). However, accuracy this approach gradually decreases over time due gyro drift. To further increase shearer, paper proposes based on INS light detection ranging (LiDAR). A Kalman filter (KF) model observation provided detecting hydraulic supports which are part face, using LiDAR, established. selection scheme...

In order to achieve the fine alignment of strapdown inertial navigation (SINS) under large misalignment angles, a novel filtering method is proposed based on second-order extended Kalman filter (EKF2) and adaptive fuzzy inference system (AFIS). Firstly, quaternion employed represent attitude errors SINS. A nonlinear state equation made velocity error model model, linear measurement outputs from Then, scheme designed EKF2 AFIS. The estimation can be achieved by using scheme. results Monte...

To reduce noncommutative error (NCE) and improve the attitude-update accuracy in attitude algorithm of strapdown inertial navigation system (SINS), we assume that angular rate is represented as a polynomial to deduce relationship between increment sampling sequence derivatives quaternion. Subsequently, high-order numerical solution quaternion differential equation obtained by substituting into its Taylor expansion. Generally, will be constructed with series samples constant updating...

A laboratory test based on the gyroscope output reconstruction method (GORM) to evaluate super-high-accuracy strapdown inertial navigation attitude algorithms is proposed herein. period of coning motion, which inspires non-commutative error, simulated by turntable and inertial-grade IMU. The compensation performance error reflects accuracy algorithms. original low-dynamic data transformed into high-dynamic GORM solve problem that it difficult in laboratory. effectiveness feasibility are...

The inner lever arm effect of the accelerometer triad, also known as size effect, means that sensitive centers three accelerometers in an inertial measurement unit (IMU) cannot be mechanically installed at one point. Without compensation, it will seriously deteriorate accuracy calculated velocity during rotation. For rotational navigation system (RINS), this paper analyzes influence on alignment, and proposes a multi-position alignment method based 2-dimensional online estimation. In method,...

Error distribution analysis is an important assistant technology for the research of SINS (Strapdown Inertial Navigation System). result can provide contribution different errors to final navigation error, which helpful modifying and optimizing SINS. To realize decomposing error into parts that caused by each source, state space model established covariance matrix decomposed according sources. The proposed method based on 34-dimension quantitatively analyze end initial errors, IMU (Inertial...

The deducing of the classic coning compensation algorithm coefficients and their residual error estimation formulas is based on assumptions half-angle amplitude to be small minimizing non-periodic component equivalent rotation vector error. Nevertheless, in case insufficient for amplitude, low frequency multi-samples algorithm, estimate formula may result serious errors. In this paper, a new formula, i.e. limit accuracy proposed even if not infinite small. Some simulation tests also verify...

To make SINS algorithm afford to the atomic gyroscope and high-dynamic maneuver condition, many improvement methods for increase accuracy have been proposed in past decades. However researches mainly focus on attitude update, which is base of navigation calculation. When enough accurate realize high-accuracy navigation, velocity research should be paid more attention, obtained position with same level. improve apply it geographic frame, a based specific force polynomial herein. Simulations...

Abstract This article considers the filtering problem with nonlinear measurements. We propose a new enabling variational inference model for approximating measurement likelihood, which is constructed by linear Gaussian regression process. The resulting filter referred to as (NEVIF). In framework, NEVIF obtains posterior of state minimizing Kullback–Leibler divergence between distribution and true posterior. Then, accuracy improvement robustness compared traditional methods are analyzed....

With the development of MEMS (Micro-electromechanical Systems) manufacturing technology, inertial sensors have been widely applied in military industry and civil due to its advantages low cost, power consumption small size. Although MIMU (MEMS-Inertial Measurement Unit) cannot meet requirements pure navigation because precision, it can be qualified for some specific tasks by combining external data such as GNSS (Global Navigation Satellite System) magnetic information with fusion algorithms....

As two-position is the most widely used scheme of multi-position alignment, azimuth error analysis regarding whole alignment procedure as an entity explicitly discussed. A formula to calculate equivalent north accelerometer bias drift rate developed. The effecting extent each inertial measurement also theoretically deduced and validated through simulation. It pointed out that main sources causing heading-sensitive are triad non-orthogonality lever arm error. In a Kalman filter algorithm,...

Graduate education under the background of double first-class is one important contents Chinese higher research. The cultivation innovative ability postgraduates an aspect in postgraduate education. Different from previous methods cultivating individual innovation ability, a group training method based on Synectics Method was proposed, and studio for undergraduates, masters doctorates established. Through specific case analysis, it shown that proposed feasible efficient.

The large-acceleration motion of HFV (hypersonic flight vehicle), the high-speed rolling spinning missile, and large-maneuver fighter aircraft has put forward higher performance demand for SINS (strapdown inertial navigation system). high-accuracy positing will be realized under high-dynamic maneuver environment after decreasing measurement error IMU (inertial unit), meanwhile algorithm must improved. conventional calculates attitude with determining compensation term coning error, ignoring...

In order to meet the actual motion situation and improve dynamic performance of inertial navigation equipment, initial posture alignment needs be completed under moving base, velocity position information are generally provided directly by GPS. However, there is difficult get precise information-especially latitude in some complex conditions. This paper use INS give estimation during alignment. First, dual vector attitude determination principle based on solidified coordinate system obtain...