Asset Details
Do you wish to reserve the book?
AN INITIAL ALIGNMENT METHOD OF INERTIAL NAVIGATION SYSTEM FOR THE STATIC STATE
Hey, we have placed the reservation for you!
By the way, why not check out events that you can attend while you pick your title.
Oops! Something went wrong.
Looks like we were not able to place the reservation. Kindly try again later.
Are you sure you want to remove the book from the shelf?
AN INITIAL ALIGNMENT METHOD OF INERTIAL NAVIGATION SYSTEM FOR THE STATIC STATE
Do you wish to request the book?
AN INITIAL ALIGNMENT METHOD OF INERTIAL NAVIGATION SYSTEM FOR THE STATIC STATE
Please be aware that the book you have requested cannot be checked out. If you would like to checkout this book, you can reserve another copy
We have requested the book for you!
Your request is successful and it will be processed during the Library working hours. Please check the status of your request in My Requests.
Oops! Something went wrong.
Looks like we were not able to place your request. Kindly try again later.
Journal Article
AN INITIAL ALIGNMENT METHOD OF INERTIAL NAVIGATION SYSTEM FOR THE STATIC STATE
2022
Overview
The navigation means the process of determining the position, velocity, and orientation of the moving object such as the land vehicle, aerial vehicle, and even autonomous vehicle. Nowadays, Global Navigation Satellite System (GNSS) is most used for positioning. Nevertheless, the navigation system based on GNSS would be interrupted in the challenging environments. Therefore, the inertial navigation system (INS) has been widely combined with GNSS to overcome this issue. For INS, the core concept is the measurements of Inertial Measurement Unit (IMU). In order to integrate the measurements of IMU with several sensors such as GNSS receivers, odometers, and so on, we should transform the measurements of IMU from body frame to navigation frame. The initial alignment just represents the process of finding the accurate initial rotation matrix between body frame and navigation frame in the beginning of navigation. However, initial misalignment angles would cause large error of INS. Hence, obtaining an accurate initial rotation matrix from body frame to navigation frame is an important issue to get the better navigation performance. In the research, an integrated navigation system is developed to validate the initial alignment algorithm. With the data pre-processing and accurate calibration. the proposed method of initial alignment can get precise initial ration matrix. The errors of roll pitch, and yaw angle are all smaller than 1 degree after initial alignment. Moreover, the time threshold of initial alignment is set by manual traditionally. A method of finding threshold of coarse alignment is proposed in this research.
Publisher
Copernicus GmbH,Copernicus Publications
Subject
