A New Analytical Method to Improve Attitude Correction in Inertial Navigation Systems

Document Type : Research Article

Authors

1 Department of Aerospace Engineering, Amirkabir University of Technology, Tehran, Iran.

2 Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran.

Abstract

Inertial Navigation Systems suffer from accumulative errors due to their dead reckoning structure. Consequently, the navigation reset or realigning process of such systems is unavoidable. Realigning starts with estimating the navigation errors and correcting the navigation states. To correct the error of attitude states in the navigation reset process, different kinds of attitude correction method are used in the literature. This paper proposed an analytical attitude correction method that can calculate the error of Euler angles more precisely than the conventional method. In addition, this new approach preserves normality and orthogonality characteristics of the transformation matrix while the conventional method leads to losing both of these conditions. The proposed method expresses the error of Euler angles as functions of Euler angles and small rotation angles. The relation between the Euler angles error and the small rotation angles is nonlinear and mathematical calculation is performed to extract the explicit functions. Numerical simulations prove that the proposed method of attitude correction has the mentioned features and its performance is dominant over the conventional method.

Keywords

Main Subjects

References

  1.  Ali, Jamshaid & Ushaq, Muhammad. (2009). A consistent and robust Kalman filter design for in-motion alignment of Inertial Navigation System. Measurement. 42. 577-582. 10.1016/j.measurement.2008.10.002.
  2.  Koifman, M. & Bar-Itzhack, I.Y.. (1999). Inertial Navigation System Aided by Aircraft Dynamics. Control Systems Technology, IEEE Transactions on. 7. 487 - 493. 10.1109/87.772164.
  3. Zhu, Yanze & Ma, Rong & Quan, Yihong & Pan, Di. (2021). An Improved Error Correction Algorithm For SINS Based On Star Sensor. 1-6. 10.1109/I2MTC50364.2021.9459801.
  4. Rahimi, Hossein & Nikkhah, Amir & Hooshmandi, Kaveh. (2020). A fast alignment of marine strapdown Inertial Navigation System based on adaptive unscented Kalman Filter. Transactions of the Institute of Measurement and Control. 43. 014233122093429. 10.1177/0142331220934293.
  5. Chen, Danhe & Neusypin, Konstantin & Selezneva, Maria & Mu, Zhongcheng. (2019). New Algorithms for Autonomous Inertial Navigation Systems Correction with Precession Angle Sensors in Aircrafts. Sensors. 19. 5016. 10.3390/s19225016..
  6. Bar-Itzhack, Itzhack & Goshen, Drora. (1990). Unified approach to Inertial Navigation System error modeling. Journal of Guidance, Control, and Dynamics. -1. 472-480. 10.2514/3.20887.
  7. Blankinship, Kevin. (2008). A general theory for inertial navigator error modeling. Record - IEEE PLANS, Position Location and Navigation Symposium. 1152 - 1166. 10.1109/PLANS.2008.4570002.
  8. Yu, Myeong-Jong & Park, Heung-Won & Jeon, Chang-Bae. (1997). Equivalent nonlinear error models of strapdown Inertial Navigation System. 10.2514/6.1997-3563.
  9. Kong, Xiaoying & Nebot, Eduardo & Durrant-whyte, Hugh. (2002). Development of a non-linear psi-angle model for large misalignment errors and its application in INS alignment and calibration. Proceedings - IEEE International Conference on Robotics and Automation. 2.
  10. Scherzinger, Bruno. (1996). Inertial Navigator Error Models for Large Heading Uncertainty. Record - IEEE PLANS, Position Location and Navigation Symposium. 477 - 484. 10.1109/PLANS.1996.509118.
  11. Rogers, R. (1997). IMU In-Motion Alignment Without Benefit of Attitude Initialization. Navigation. 44. 301-311. 10.1002/j.2161-4296.1997.tb02349.x.
  12. Rogers, Robert M., (2001) Large Azimuth INS Error Models for In-Motion Alignment, Proceedings of the National Technical Meeting of The Institute of Navigation, Long Beach, CA, January, pp. 172-184.
  13. Bar-Itzhack, I. & Goshen, Drora. (1988). Identity between INS position and velocity error equations in the true frame. Journal of Guidance Control and Dynamics - J GUID CONTROL DYNAM. 11. 590-592. 10.2514/3.20357.
  14. Weinred, Abraham & Bar-Itzhack, I.Y.. (1978). The Psi-Angle Error Equation in Strapdown Inertial Navigation Systems. Aerospace and Electronic Systems, IEEE Transactions on. 3. 539 - 542. 10.1109/TAES.1978.308617.
  15. Savage, Paul G. Strapdown analytics. Vol. 2. Maple Plain, MN: Strapdown Associates, 2000.
  16. Bekir, Esmat. Introduction to modern navigation systems. Hackensack, NJ, USA: World scientific, 2007.
  17. Groves, Paul D. Principles of GNSS, inertial, and multisensor integrated navigation systems. Artech house, 2013.
  18. Noureldin, Aboelmagd, Tashfeen B. Karamat, and Jacques Georgy. Fundamentals of inertial navigation, satellite-based positioning and their integration. Springer Science & Business Media, 2012.
  19. Zipfel, Peter. (2014). Modeling and Simulation of Aerospace Vehicle Dynamics. 10.2514/4.862182.
  20. Titterton, D. & Weston, J.. (2004). Strapdown Inertial Navigation Technology. 10.1049/PBRA017E.
AUT Journal of Modeling and Simulation
Volume 54, Issue 1
June 2022
Pages 73-84

Files

Share

How to cite

Statistics