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A Fast in-Motion Alignment Algorithm for DVL Aided SINS
Joint Authors
Ye, Lingyun
Kang, Li
Song, Kaichen
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-06-04
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Doppler velocity log (DVL) aided strapdown inertial navigation system (SINS) is a common navigation method for underwater applications.
Owing to the in-motion condition and the lack of the GPS, it is a challenge to align a SINS under water.
This paper proposed a complete in-motion alignment solution for both attitude and position.
The velocity update equation and its integral form in the body frame are studied, and the attitude coarse alignment becomes an optimization-based attitude determination problem between the body frame velocity and the integral form of gravity.
The body frame velocity and the Earth frame position are separately treated, and the position alignment problem turns into an equation solving problem.
Simulation and on-lake tests are carried out to examine the algorithm.
The heading could reach around 10 deg accuracy and the pitch and roll could be aligned up to 0.05 deg in 60 s.
With attitude error of this level, the heading could reach 1 deg accuracy in 240 s using unscented Kalman filter (UKF) based fine alignment.
The final position error could achieve 1.5% of the voyage distance.
This scheme can also be applied to other body frame velocity aided SINS alignments.
American Psychological Association (APA)
Kang, Li& Ye, Lingyun& Song, Kaichen. 2014. A Fast in-Motion Alignment Algorithm for DVL Aided SINS. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-483562
Modern Language Association (MLA)
Kang, Li…[et al.]. A Fast in-Motion Alignment Algorithm for DVL Aided SINS. Mathematical Problems in Engineering No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-483562
American Medical Association (AMA)
Kang, Li& Ye, Lingyun& Song, Kaichen. A Fast in-Motion Alignment Algorithm for DVL Aided SINS. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-483562
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-483562