Integration Scheme for SINS/GPS System Based on Vertical Channel Decomposition and In-Motion Alignment

Document Type : Research Article

Authors

Department of Mechanical Engineering, Tabriz University, Tabriz, Iran

Abstract

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 and the cumulative errors of low-cost inertial measurement units (IMUs), initial alignment is insufficient to achieve required navigation accuracy. To tackle this problem, in this paper, misalignment error is dynamically modeled and in-motion alignment is provided based on position and velocity matching. It is revealed that using misalignment error, orientation estimation can be properly corrected. Moreover, to prevent the instability effects of the vertical channel, decomposed SINS error model is derived. In the decomposed SINS error model, the navigation states in the vertical channel are separated from those in the horizontal plane. Two-step estimation process is developed for integration of the aforementioned SINS error dynamics with the measurements provided by global positioning system (GPS), and fifteen-state SINS/GPS mechanization is presented. Assessment of the proposed approach is conducted in the airborne test.

Keywords

Main Subjects

References

[1] Z. Ding, H. Cai, H. Yang, An improved multi-position calibration method for low cost micro-electro mechanical systems inertial measurement units, Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 229(10) (2015) 1919-1930.
[2] N. El-Sheimy, S. Nassar, A. Noureldin, Wavelet de-noising for IMU alignment, IEEE Aerospace and Electronic Systems Magazine, 19(10) (2004) 32-39.
[3] J. Ali, M. Ushaq, A consistent and robust Kalman filter design for in-motion alignment of inertial navigation system, Journal of Measurement, 42(4) (2009) 577-582.
[4] B.H. Kaygisiz, I. Erkmen, A.M. Erkmen, GPS/INS enhancement for land navigation using neural network, Journal of Navigation, 57(02) (2004) 297-310.
[5] Y. Hao, Z. Xiong, Z. Hu, Particle filter for INS in-motion alignment, in: 1st IEEE Conference on Industrial Electronics and Applications, IEEE, pp. 1-6, 2006.
[6] Q. Wang, Y. Li, K. Wang, C. Rizos, S. Li, The observability analysis and SPKF for the in-motion alignment of the loosely-integrated GPS/INS system, in: Proceedings of the 22nd International Technical Meeting of The Satellite Division of the Institute of Navigation, ION GNSS, pp. 104-110, 2009.
[7] R. Stancic, S. Graovac, The integration of strap-down INS and GPS based on adaptive error damping, Robotics and Autonomous Systems, 58(10) (2010) 1117-1129.
[8] P. Doostdar, J. Keighobadi, Design and implementation of SMO for a nonlinear MIMO AHRS, Mechanical Systems and Signal Processing, 32 (2012) 94-115.
[9] Q. Li, Y. Ben, F. Sun, A novel algorithm for marine strapdown gyrocompass based on digital filter, Journal of Measurement, 46(1) (2013) 563-571.
[10] W. Li, J. Wang, L. Lu, W. Wu, A novel scheme for DVL-aided SINS in-motion alignment using UKF techniques, Sensors, 13(1) (2013) 1046-1063.
[11] T. Liu, Q. Xu, Y. Li, Adaptive filtering design for in-motion alignment of INS, in: Control and Decision Conference (2014 CCDC), The 26th Chinese, IEEE, 2014, pp. 2669-2674.
[12] N. Musavi, J. Keighobadi, Adaptive fuzzy neuro-observer applied to low cost INS/GPS, Journal of Applied Soft Computing, 29 (2015) 82-94.
[13] H. Milanchian, J. Keighobadi, H. Nourmohammadi, Magnetic Calibration of Three-Axis Strapdown Magnetometers for Applications in Mems Attitude- Heading Reference Systems, AUT Journal of Modeling and Simulation, 47(1) (2015) 55-65.
[14] Y. Meng, S. Gao, Y. Zhong, G. Hu, A. Subic, Covariance matching based adaptive unscented Kalman filter for direct filtering in INS/GNSS integration, Journal of Acta Astronautica, 120 (2016) 171-181.
[15] H. Nourmohammadi, J. Keighobadi, Decentralized INS/GNSS System With MEMS-Grade Inertial Sensors Using QR-Factorized CKF, IEEE Sensors Journal, 17(11) (2017) 3278-3287.
[16] D. Titterton, J.L. Weston, Strapdown inertial navigation technology, IET, 2004.
[17] O.S. Salychev, Applied Inertial Navigation: problems and solutions, BMSTU Press Moscow, Russia, 2004.
[18] R.M. Rogers, Applied mathematics in integrated navigation systems, Aiaa, 2003.
[19] M. El-Diasty, S. Pagiatakis, Calibration and stochastic modelling of inertial navigation sensor errors, Journal of Global Positioning Systems, 7(2) (2008) 170-182.
[20] X.-Y. Chen, J. Yu, X.-F. Zhu, Theoretical analysis and application of Kalman filter for ultra-tight global position system/inertial navigation system integration, Transactions of the Institute of Measurement and Control, 34(5) (2011) 648-662.
AUT Journal of Modeling and Simulation
Volume 50, Issue 1
June 2018
Pages 13-22

Files

Share

How to cite

Statistics