AN INITIAL ALIGNMENT METHOD OF INERTIAL NAVIGATION SYSTEM FOR THE STATIC STATE

H. Y. Liu, S. Tsai, M. L. Tsai, K. W. Chiang

研究成果: Conference article同行評審

摘要

The navigation means the process of determining the position, velocity, and orientation of the moving object such as the land vehicle, aerial vehicle, and even autonomous vehicle. Nowadays, Global Navigation Satellite System (GNSS) is most used for positioning. Nevertheless, the navigation system based on GNSS would be interrupted in the challenging environments. Therefore, the inertial navigation system (INS) has been widely combined with GNSS to overcome this issue. For INS, the core concept is the measurements of Inertial Measurement Unit (IMU). In order to integrate the measurements of IMU with several sensors such as GNSS receivers, odometers, and so on, we should transform the measurements of IMU from body frame to navigation frame. The initial alignment just represents the process of finding the accurate initial rotation matrix between body frame and navigation frame in the beginning of navigation. However, initial misalignment angles would cause large error of INS. Hence, obtaining an accurate initial rotation matrix from body frame to navigation frame is an important issue to get the better navigation performance. In the research, an integrated navigation system is developed to validate the initial alignment algorithm. With the data pre-processing and accurate calibration. the proposed method of initial alignment can get precise initial ration matrix. The errors of roll pitch, and yaw angle are all smaller than 1 degree after initial alignment. Moreover, the time threshold of initial alignment is set by manual traditionally. A method of finding threshold of coarse alignment is proposed in this research.

原文English
頁(從 - 到)227-233
頁數7
期刊International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
43
發行號B1-2022
DOIs
出版狀態Published - 2022 5月 30
事件2022 24th ISPRS Congress on Imaging Today, Foreseeing Tomorrow, Commission I - Nice, France
持續時間: 2022 6月 62022 6月 11

All Science Journal Classification (ASJC) codes

  • 資訊系統
  • 地理、規劃與發展

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