A fast inertial frame alignment algorithm based on horizontal alignment information for marine SINS

Wei Gao; Yanting Che; Fei Yu; Yalong Liu

doi:10.1109/PLANS.2014.6851517

A fast inertial frame alignment algorithm based on horizontal alignment information for marine SINS

Wei Gao
, Yanting Che
, Fei Yu
, Yalong Liu

Harbin Engineering University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

In this paper, a improved inertial frame alignment algorithm is proposed, which significantly improves the accuracy and time cost of the traditional inertial frame coarse alignment algorithm. Firstly, a dimensionality reduction Gauss-Hermite filter algorithm is employed in the horizontal fine alignment phase. Secondly, according to the feature of the gravity, that the horizontal components of the gravity projected in horizontal reference frame is zero, the projection of the gravity in body inertial coordinate frame could be calculated easily after the horizontal fine alignment. Thirdly, a weighted smoothing algorithm is used to adjust the gravity which obtained after the horizontal fine alignment phase, and then the initial alignment algorithm is accomplished. The simulation results show that the alignment time can be greatly reduced. And the fast initial alignment algorithm can achieve the medium accuracy within 6 minutes. That meets the accuracy requirement of the medium accuracy marine SINS.

Original language	English
Title of host publication	Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1415-1419
Number of pages	5
ISBN (Print)	9781479933204
DOIs	https://doi.org/10.1109/PLANS.2014.6851517
State	Published - 2014
Externally published	Yes
Event	2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014 - Monterey, CA, United States Duration: 5 May 2014 → 8 May 2014

Publication series

Name	Record - IEEE PLANS, Position Location and Navigation Symposium

Conference

Conference	2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014
Country/Territory	United States
City	Monterey, CA
Period	5/05/14 → 8/05/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

DRGHF
SINS
fast alignment
inertial coordinate frame

Access to Document

10.1109/PLANS.2014.6851517

Cite this

Gao, W., Che, Y., Yu, F., & Liu, Y. (2014). A fast inertial frame alignment algorithm based on horizontal alignment information for marine SINS. In Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014 (pp. 1415-1419). Article 6851517 (Record - IEEE PLANS, Position Location and Navigation Symposium). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/PLANS.2014.6851517

Gao, Wei ; Che, Yanting ; Yu, Fei et al. / A fast inertial frame alignment algorithm based on horizontal alignment information for marine SINS. Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1415-1419 (Record - IEEE PLANS, Position Location and Navigation Symposium).

@inproceedings{a6479438898f413b9b68b1ae07ee1ac2,

title = "A fast inertial frame alignment algorithm based on horizontal alignment information for marine SINS",

abstract = "In this paper, a improved inertial frame alignment algorithm is proposed, which significantly improves the accuracy and time cost of the traditional inertial frame coarse alignment algorithm. Firstly, a dimensionality reduction Gauss-Hermite filter algorithm is employed in the horizontal fine alignment phase. Secondly, according to the feature of the gravity, that the horizontal components of the gravity projected in horizontal reference frame is zero, the projection of the gravity in body inertial coordinate frame could be calculated easily after the horizontal fine alignment. Thirdly, a weighted smoothing algorithm is used to adjust the gravity which obtained after the horizontal fine alignment phase, and then the initial alignment algorithm is accomplished. The simulation results show that the alignment time can be greatly reduced. And the fast initial alignment algorithm can achieve the medium accuracy within 6 minutes. That meets the accuracy requirement of the medium accuracy marine SINS.",

keywords = "DRGHF, SINS, fast alignment, inertial coordinate frame",

author = "Wei Gao and Yanting Che and Fei Yu and Yalong Liu",

year = "2014",

doi = "10.1109/PLANS.2014.6851517",

language = "英语",

isbn = "9781479933204",

series = "Record - IEEE PLANS, Position Location and Navigation Symposium",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1415--1419",

booktitle = "Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014",

address = "美国",

note = "2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014 ; Conference date: 05-05-2014 Through 08-05-2014",

}

Gao, W, Che, Y, Yu, F & Liu, Y 2014, A fast inertial frame alignment algorithm based on horizontal alignment information for marine SINS. in Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014., 6851517, Record - IEEE PLANS, Position Location and Navigation Symposium, Institute of Electrical and Electronics Engineers Inc., pp. 1415-1419, 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014, Monterey, CA, United States, 5/05/14. https://doi.org/10.1109/PLANS.2014.6851517

A fast inertial frame alignment algorithm based on horizontal alignment information for marine SINS. / Gao, Wei; Che, Yanting; Yu, Fei et al.
Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1415-1419 6851517 (Record - IEEE PLANS, Position Location and Navigation Symposium).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A fast inertial frame alignment algorithm based on horizontal alignment information for marine SINS

AU - Gao, Wei

AU - Che, Yanting

AU - Yu, Fei

AU - Liu, Yalong

PY - 2014

Y1 - 2014

N2 - In this paper, a improved inertial frame alignment algorithm is proposed, which significantly improves the accuracy and time cost of the traditional inertial frame coarse alignment algorithm. Firstly, a dimensionality reduction Gauss-Hermite filter algorithm is employed in the horizontal fine alignment phase. Secondly, according to the feature of the gravity, that the horizontal components of the gravity projected in horizontal reference frame is zero, the projection of the gravity in body inertial coordinate frame could be calculated easily after the horizontal fine alignment. Thirdly, a weighted smoothing algorithm is used to adjust the gravity which obtained after the horizontal fine alignment phase, and then the initial alignment algorithm is accomplished. The simulation results show that the alignment time can be greatly reduced. And the fast initial alignment algorithm can achieve the medium accuracy within 6 minutes. That meets the accuracy requirement of the medium accuracy marine SINS.

AB - In this paper, a improved inertial frame alignment algorithm is proposed, which significantly improves the accuracy and time cost of the traditional inertial frame coarse alignment algorithm. Firstly, a dimensionality reduction Gauss-Hermite filter algorithm is employed in the horizontal fine alignment phase. Secondly, according to the feature of the gravity, that the horizontal components of the gravity projected in horizontal reference frame is zero, the projection of the gravity in body inertial coordinate frame could be calculated easily after the horizontal fine alignment. Thirdly, a weighted smoothing algorithm is used to adjust the gravity which obtained after the horizontal fine alignment phase, and then the initial alignment algorithm is accomplished. The simulation results show that the alignment time can be greatly reduced. And the fast initial alignment algorithm can achieve the medium accuracy within 6 minutes. That meets the accuracy requirement of the medium accuracy marine SINS.

KW - DRGHF

KW - SINS

KW - fast alignment

KW - inertial coordinate frame

UR - https://www.scopus.com/pages/publications/84905040208

U2 - 10.1109/PLANS.2014.6851517

DO - 10.1109/PLANS.2014.6851517

M3 - 会议稿件

AN - SCOPUS:84905040208

SN - 9781479933204

T3 - Record - IEEE PLANS, Position Location and Navigation Symposium

SP - 1415

EP - 1419

BT - Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Gao W, Che Y, Yu F, Liu Y. A fast inertial frame alignment algorithm based on horizontal alignment information for marine SINS. In Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1415-1419. 6851517. (Record - IEEE PLANS, Position Location and Navigation Symposium). doi: 10.1109/PLANS.2014.6851517

A fast inertial frame alignment algorithm based on horizontal alignment information for marine SINS

Abstract

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UN SDGs

Keywords

Access to Document

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