An in-motion QUEST optimized coarse alignment algorithm for vehicle carried SINS

被引：0
|
作者：
Han Y. [1 ]
Wang X. [1 ]
Xie L. [1 ]
Chen J. [1 ]
机构：
[1] Beijing Institute of Technology, Beijing
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2020年 / 28卷 / 01期
关键词：
Moving base alignment; Odometer; QUEST algorithm; SINS;
D O I：
10.13695/j.cnki.12-1222/o3.2020.01.007
中图分类号：
学科分类号：
摘要：
Aiming at the accuracy and environmental adaptability of the moving base alignment method of vehicle carried SINS, a coarse alignment optimization algorithm based on QUEST is proposed. Firstly, the attitude matrix decomposition method is used to obtain the observed value of gravity vector under different reference systems. Then the impact of different environments on the alignment algorithm is analyzed, the optimized algorithm based on QUEST is used to analyze the gravity vector information at different times, and the weight values based on the error information is allocated reasonably to improve the stability of the algorithm. The attitude, speed and position of vehicle carrier are estimated in real time and fed back to the next calculation to form a closed loop and improve the accuracy of coarse alignment. The simulation and vehicle experiments show that the algorithm can achieve the coarse alignment of the attitude during the travel of the vehicle, and the angle error under multiple sets of experiments can be kept in ±2° within 150 s. © 2020, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：41 / 46
页数：5
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