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Initial Self-Alignment for Marine Rotary SINS Using Novel Adaptive Kalman Filter
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-04
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
The accurate initial attitude is essential to affect the navigation result of Rotary Strapdown Inertial Navigation System (SINS), which is usually calculated by initial alignment.
But marine mooring Rotary SINS has to withstand dynamic disturbance, such as the interference angular velocities and accelerations caused by surge and sway.
In order to overcome the limit of dynamic disturbance under the marine mooring condition, an alignment method using novel adaptive Kalman filter for marine mooring Rotary SINS is developed in this paper.
This alignment method using the gravity in the inertial frame as a reference is discussed to deal with the lineal and angular disturbances.
Secondly, the system error model for fine alignment in the inertial frame as a reference is established.
Thirdly, PWCS and SVD are used to analyze the observability of the system error model for fine alignment.
Finally, a novel adaptive Kalman filter with measurement residual to estimate measurement noise variance is designed.
The simulation results demonstrate that the proposed method can achieve better accuracy and stability for marine Rotary SINS.
American Psychological Association (APA)
Pei, Fu-jun& Zhu, Li& Zhao, Jian. 2015. Initial Self-Alignment for Marine Rotary SINS Using Novel Adaptive Kalman Filter. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1073516
Modern Language Association (MLA)
Pei, Fu-jun…[et al.]. Initial Self-Alignment for Marine Rotary SINS Using Novel Adaptive Kalman Filter. Mathematical Problems in Engineering No. 2015 (2015), pp.1-12.
https://search.emarefa.net/detail/BIM-1073516
American Medical Association (AMA)
Pei, Fu-jun& Zhu, Li& Zhao, Jian. Initial Self-Alignment for Marine Rotary SINS Using Novel Adaptive Kalman Filter. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1073516
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073516