Optimization-based alignment for inertial navigation systems: Theory and algorithm

Inertial navigation system (INS) necessitates an alignment stage to determine the initial attitude at the very start. A novel alignment approach is devised by way of an optimization method, in contrast to the existing alignment methods, e.g., gyrocompassing and filtering techniques. This paper shows...

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Published in:	Aerospace science and technology Vol. 15; no. 1; pp. 1 - 17
Main Authors:	Wu, Meiping, Wu, Yuanxin, Hu, Xiaoping, Hu, Dewen
Format:	Journal Article
Language:	English
Published:	Issy-les-Moulineaux Elsevier SAS 01.01.2011 Elsevier
Subjects:	Algorithms Alignment Applied sciences Computer science; control theory; systems Control theory. Systems Detection, estimation, filtering, equalization, prediction Eigenvector Exact sciences and technology Filtering Global observability Inertial navigation Inertial navigation system Information, signal and communications theory Mathematical analysis Optimization Sensitivity analysis Sensors Signal and communications theory Signal, noise System theory Telecommunications and information theory Alignment Global observability Eigenvector Inertial navigation system Euler equation Navigation system Sensitivity analysis Filtering Translation motion Systems theory Algorithm Optimization Accuracy Simulation Inertial navigation Position measurement Robustness Observability
ISSN:	1270-9638, 1626-3219
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Abstract	Inertial navigation system (INS) necessitates an alignment stage to determine the initial attitude at the very start. A novel alignment approach is devised by way of an optimization method, in contrast to the existing alignment methods, e.g., gyrocompassing and filtering techniques. This paper shows that the INS attitude alignment can be equivalently transformed into a “continuous” attitude determination problem using infinite vector observations. It reveals an interesting link between these two individual problems that has been studied in parallel for several decades. The INS alignment is heuristically established as an optimization problem of finding the minimum eigenvector. Sensitivity analysis with respect to sensor biases is made and explicit error equations are obtained for a special stationary case. Simulation studies and experiment tests favorably demonstrate its rapidness, accuracy and robustness. The proposed approach is inherently able to cope with any large angular motions, as well as high-frequency translational motions. By inspecting the constant initial Euler angles, it could alternatively be used to detect the existence of significant sensor biases.
AbstractList	Inertial navigation system (INS) necessitates an alignment stage to determine the initial attitude at the very start. A novel alignment approach is devised by way of an optimization method, in contrast to the existing alignment methods, e.g., gyrocompassing and filtering techniques. This paper shows that the INS attitude alignment can be equivalently transformed into a “continuous” attitude determination problem using infinite vector observations. It reveals an interesting link between these two individual problems that has been studied in parallel for several decades. The INS alignment is heuristically established as an optimization problem of finding the minimum eigenvector. Sensitivity analysis with respect to sensor biases is made and explicit error equations are obtained for a special stationary case. Simulation studies and experiment tests favorably demonstrate its rapidness, accuracy and robustness. The proposed approach is inherently able to cope with any large angular motions, as well as high-frequency translational motions. By inspecting the constant initial Euler angles, it could alternatively be used to detect the existence of significant sensor biases.
Author	Hu, Xiaoping Wu, Yuanxin Hu, Dewen Wu, Meiping
Author_xml	– sequence: 1 givenname: Meiping surname: Wu fullname: Wu, Meiping email: meipingwu@263.net – sequence: 2 givenname: Yuanxin surname: Wu fullname: Wu, Yuanxin email: yuanx_wu@hotmail.com – sequence: 3 givenname: Xiaoping surname: Hu fullname: Hu, Xiaoping email: xphu@nudt.edu.cn – sequence: 4 givenname: Dewen surname: Hu fullname: Hu, Dewen email: dwhu@nudt.edu.cn
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Keywords	Alignment Global observability Eigenvector Inertial navigation system Euler equation Navigation system Sensitivity analysis Filtering Translation motion Systems theory Algorithm Optimization Accuracy Simulation Inertial navigation Position measurement Robustness Observability
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Snippet	Inertial navigation system (INS) necessitates an alignment stage to determine the initial attitude at the very start. A novel alignment approach is devised by...
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SubjectTerms	Algorithms Alignment Applied sciences Computer science; control theory; systems Control theory. Systems Detection, estimation, filtering, equalization, prediction Eigenvector Exact sciences and technology Filtering Global observability Inertial navigation Inertial navigation system Information, signal and communications theory Mathematical analysis Optimization Sensitivity analysis Sensors Signal and communications theory Signal, noise System theory Telecommunications and information theory
Title	Optimization-based alignment for inertial navigation systems: Theory and algorithm
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