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Proceedings Paper

A fast initial alignment method for SINS on stationary base
Author(s): Sheng Yang; Jiancheng Fang
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Paper Abstract

In case of initial self-alignment for SINS on stationary base, when the level accelerometer outputs are taken as the measurement value for Kalman filter, the convergence speed of azimuth misalignment angle is limited by the observability of SINS. A fine alignment method for SINS is introduced firstly, which can do the accelerometer-based leveling alignment and gyro-based heading alignment simultaneously. The observability analysis by Singular Value Decomposition for this method shows that, the degree of observability of SINS is improved by adding observable extern information. Based on the analysis, a fast initial alignment method is proposed, which employs a reduced order alignment Kalman filter and takes both the level accelerometer outputs and east gyroscope output as the measurement value. Besides, the model error compensation method is given. Simulation and experimental comparison results between this fast alignment method and traditional one illustrate that, the convergence speed of azimuth misalignment angle is improved greatly with good real-time performance.

Paper Details

Date Published: 13 October 2008
PDF: 6 pages
Proc. SPIE 7128, Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment, 71281O (13 October 2008); doi: 10.1117/12.806728
Show Author Affiliations
Sheng Yang, Beihang Univ. (China)
Jiancheng Fang, Beihang Univ. (China)


Published in SPIE Proceedings Vol. 7128:
Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment

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