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In-Motion Attitude and Position Alignment for Odometer-Aided SINS Based on Backtracking Scheme
- Source :
- IEEE Access, Vol 7, Pp 20211-20224 (2019)
- Publication Year :
- 2019
- Publisher :
- IEEE, 2019.
-
Abstract
- In-motion alignment of navigation-grade strapdown inertial navigation system (SINS) combined with odometer (OD) is one of the challenging issues for the land vehicle navigation, while most current in-motion alignment methods still rely on the measurements of the global positioning system or only aim at improving the attitude alignment, thus neglecting the position alignment. Thus, one of the main obstacles during the in-motion alignment for SINS/OD is to autonomously and simultaneously obtain the high-precision attitude and position within specified time. In this paper, an in-motion alignment scheme based on the backtracking scheme is presented to solve this problem. The proposed method consists of two steps. First, an improved optimization-based coarse alignment (IOBCA) is employed to obtain the attitude and position with reasonable precision, and the gravity deflexion error projection in inertial frame caused by the positioning error is diminished, which contributes to better alignment results for the subsequent process. Second, initialized with the alignment results provided by IOBCA, a backtracking-scheme-based fine alignment combined with the Kalman filter is investigated to make a further improvement in the precision of attitude and position, during which the known initial binding position and zero velocity have been utilized again. The car-mounted field experimental results illustrate that the proposed method can not only autonomously improve the precision of attitude within a short time but also simultaneously achieve the position with high precision.
- Subjects :
- Inertial frame of reference
General Computer Science
Computer science
odometer (OD)
02 engineering and technology
Odometer
In-motion alignment
backtracking
0203 mechanical engineering
Position (vector)
0202 electrical engineering, electronic engineering, information engineering
General Materials Science
Computer vision
Projection (set theory)
Inertial navigation system
business.industry
Backtracking
strapdown inertial navigation system (SINS)
020208 electrical & electronic engineering
General Engineering
020302 automobile design & engineering
Kalman filter
Global Positioning System
Artificial intelligence
lcsh:Electrical engineering. Electronics. Nuclear engineering
business
lcsh:TK1-9971
Subjects
Details
- Language :
- English
- ISSN :
- 21693536
- Volume :
- 7
- Database :
- OpenAIRE
- Journal :
- IEEE Access
- Accession number :
- edsair.doi.dedup.....7885c71faa4f543046160739422bbe9f