A Novel Scheme for DVL-Aided SINS In-Motion Alignment Using UKF Techniques
نویسندگان
چکیده
منابع مشابه
A Novel Scheme for DVL-Aided SINS In-Motion Alignment Using UKF Techniques
In-motion alignment of Strapdown Inertial Navigation Systems (SINS) without any geodetic-frame observations is one of the toughest challenges for Autonomous Underwater Vehicles (AUV). This paper presents a novel scheme for Doppler Velocity Log (DVL) aided SINS alignment using Unscented Kalman Filter (UKF) which allows large initial misalignments. With the proposed mechanism, a nonlinear SINS er...
متن کاملIntegration Scheme for SINS/GPS System Based on Vertical Channel Decomposition and In-Motion Alignment
Accurate alignment and vertical channel instability play an important role in the strap-down inertial navigation system (SINS), especially in the case that precise navigation has to be achieved over long periods of time. Due to poor initialization as well as the cumulative errors of low-cost inertial measurement units (IMUs), initial alignment is not sufficient to achieve required navigation ac...
متن کاملA Pretreatment Method for the Velocity of DVL Based on the Motion Constraint for the Integrated SINS/DVL
Li-Ye Zhao 1,2,†, Xian-Jun Liu 1,2,†, Lei Wang 1,2, Yan-Hua Zhu 1,2 and Xi-Xiang Liu 1,2,* 1 School of Instrument Science & Engineering, Southeast University, No. 2, Sipailou, Nanjing 210096, China; [email protected] (L.-Y.Z.); [email protected] (X.-J.L.); [email protected] (L.W.); [email protected] (Y.-H.Z.) 2 Key Laboratory of Micro-inertial Instrument and Advanced Navigation Techn...
متن کاملA Fast SINS Initial Alignment Scheme for Underwater Vehicle Applications
To achieve high Strapdown Inertial Navigation System (SINS) alignment accuracy within a short period of time is still a challenging issue for underwater vehicles. In this paper, a new SINS initial alignment scheme aided by the velocity derived from Doppler Velocity Log (DVL) is proposed to solve this problem. In the stage of the coarse alignment, the velocity of DVL is employed to reduce the im...
متن کاملOptimization Analysis of Adaptive UKF Filtering Algorithm in Self Alignment of SINS
In SINS, the inertial components are directly mounted on the carrier.The error can be divided into deterministic error and random drift error (dynamic error), in which, the formercan be compensated. In this case, the initial alignment of the pure static base can achieve a high accuracy. In the practical application, the dynamic error is directly reflected in the inertial device because of influ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2013
ISSN: 1424-8220
DOI: 10.3390/s130101046