JCP 2011 Vol.6(6): 1080-1085 ISSN: 1796-203X
doi: 10.4304/jcp.6.6.1080-1085
doi: 10.4304/jcp.6.6.1080-1085
Initial Alignment for SINS based on Low-cost IMU
Jiong Yi, Lei Zhang, Rong Shu, Jianyu Wang
Chinese Academy of Sciences / Shanghai Institute of Technical Physics, Shanghai, China
Abstract—The initial alignment is vital to the strapdown inertial navigation system (SINS). In this work, an efficient initial alignment method for SINS based on a six-degree of freedom inertial measurements unit (IMU) is proposed. The three dimensional linear accelerations and angular rates are acquired from a data acquisition board which contains a low-cost IMU. Preprocess the gyro data and modeling the SINS error model for initial alignment. Analysis the observability of this SINS error model and then simplify the model based on the observability. A kalman filter is conducted to estimate the misalignment angle. The results show that the initial alignment method proposed in this paper is advisable for a SINS based on low-cost IMU on a stationary base.
Index Terms—SINS, Initial Alignment, Kalman Filter, Obervability, Data Acquisition
Abstract—The initial alignment is vital to the strapdown inertial navigation system (SINS). In this work, an efficient initial alignment method for SINS based on a six-degree of freedom inertial measurements unit (IMU) is proposed. The three dimensional linear accelerations and angular rates are acquired from a data acquisition board which contains a low-cost IMU. Preprocess the gyro data and modeling the SINS error model for initial alignment. Analysis the observability of this SINS error model and then simplify the model based on the observability. A kalman filter is conducted to estimate the misalignment angle. The results show that the initial alignment method proposed in this paper is advisable for a SINS based on low-cost IMU on a stationary base.
Index Terms—SINS, Initial Alignment, Kalman Filter, Obervability, Data Acquisition
Cite: Jiong Yi, Lei Zhang, Rong Shu, Jianyu Wang , "Initial Alignment for SINS based on Low-cost IMU," Journal of Computers vol. 6, no. 6, pp. 1080-1085, 2011.
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General Information
ISSN: 1796-203X
Abbreviated Title: J.Comput.
Frequency: Bimonthly
Abbreviated Title: J.Comput.
Frequency: Bimonthly
Editor-in-Chief: Prof. Liansheng Tan
Executive Editor: Ms. Nina Lee
Abstracting/ Indexing: DBLP, EBSCO, ProQuest, INSPEC, ULRICH's Periodicals Directory, WorldCat,etc
E-mail: jcp@iap.org
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