ArticleSensors (Basel, Switzerland)2018
An Improved ACKF/KF Initial Alignment Method for Odometer-Aided Strapdown Inertial Navigation System.
Article in Sensors (Basel, Switzerland), 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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3 citing papers in PubMed.
- Design and Development of an Automatic Layout Algorithm for Laser GNSS RTK.Sensors (Basel, Switzerland) · 2024Article
- Fault-Tolerant SINS/Doppler Radar/Odometer Integrated Navigation Method Based on Two-Stage Fault Detection Structure.Entropy (Basel, Switzerland) · 2023Article
- An Alignment Method Based on KF-ASMUKF Hybrid Filtering for Ship's SINS under Mooring Conditions.Sensors (Basel, Switzerland) · 2021Article
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5 authors.
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Abstract
For a land-vehicle strapdown inertial navigation system (SINS), the problem of initial alignment with large misalignment angle in-motion needs to be solved urgently. This paper proposes an improved ACKF/KF initial alignment method for SINS aided by odometer. The SINS error equation with large misalignment angle is established first in the form of an Euler angle. The odometer/gyroscope dead reckoning (DR) error equation is deduced, which makes the observation equation linear when the position is taken as the observation of the Kalman filter. Then, based on the cubature Kalman filter, the Sage-Husa adaptive filter and the characteristics of the observation equation, an improved ACKF/KF method is proposed, which can accomplish initial alignment well in the case of unknown measurement noise. Computer simulation results show that the performance of the proposed ACKF/KF algorithm is superior to EKF, CKF and AEKF method in accuracy and stability, and the vehicle test validates its advantages.
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