Zhang Yonggang, Luo Li, Fang Tao, Li Ning, Wang Guoqing
College of Automation, Harbin Engineering University, Harbin 150001, China.
Sensors (Basel). 2018 Jan 11;18(1):195. doi: 10.3390/s18010195.
An improved coarse alignment (ICA) algorithm is proposed in this paper with a focus on improving alignment accuracy of odometer-aided strapdown inertial navigation system (SINS) under variable velocity and variable acceleration condition. In the proposed algorithm, the outputs of inertial sensors and odometer in a sampling interval are linearized rather than assumed to be a constant, which improves the accuracy of the vector observations and the precision of coarse alignment. Simulation and field test results illustrate that, under variable velocity and variable acceleration condition, the proposed algorithm can obtain a better alignment performance than conventional coarse alignment method.
本文提出了一种改进的粗对准（ICA）算法，重点是提高里程计辅助捷联惯性导航系统（SINS）在变速和变加速条件下的对准精度。在所提出的算法中，对采样间隔内惯性传感器和里程计的输出进行了线性化处理，而不是假设其为常数，这提高了矢量观测的精度和粗对准的精度。仿真和现场测试结果表明，在变速和变加速条件下，所提出的算法比传统的粗对准方法具有更好的对准性能。
