Linearized In-Motion Alignment for a Low-Cost INS

Kedong Wang; Xiaohan Xu; Wei Gao; Jinling Wang

doi:10.1109/TAES.2019.2936780

Linearized In-Motion Alignment for a Low-Cost INS

Kedong Wang^*
, Xiaohan Xu
, Wei Gao
, Jinling Wang

^*Corresponding author for this work

School of Astronautics

Beihang University
University of New South Wales

Research output: Contribution to journal › Article › peer-review

15 Scopus citations

Abstract

An accurately linearized in-motion alignment with a large heading error is proposed for a low-cost inertial navigation system with the aiding of global positioning system. The linearization is designed for both the coarse and the fine stages in the local level frame. A criterion is constructed to determine the time to switch the alignment from the coarse stage to the fine one automatically. A vehicle test demonstrates that the proposed alignment converges fast and accurately.

Original language	English
Article number	8809209
Pages (from-to)	1917-1925
Number of pages	9
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	56
Issue number	3
DOIs	https://doi.org/10.1109/TAES.2019.2936780
State	Published - Jun 2020

Keywords

Global positioning system (GPS)
Kalman filter (KF)
inertial navigation system (INS)
initial alignment

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10.1109/TAES.2019.2936780

Cite this

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title = "Linearized In-Motion Alignment for a Low-Cost INS",

abstract = "An accurately linearized in-motion alignment with a large heading error is proposed for a low-cost inertial navigation system with the aiding of global positioning system. The linearization is designed for both the coarse and the fine stages in the local level frame. A criterion is constructed to determine the time to switch the alignment from the coarse stage to the fine one automatically. A vehicle test demonstrates that the proposed alignment converges fast and accurately.",

keywords = "Global positioning system (GPS), Kalman filter (KF), inertial navigation system (INS), initial alignment",

author = "Kedong Wang and Xiaohan Xu and Wei Gao and Jinling Wang",

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AU - Wang, Jinling

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N2 - An accurately linearized in-motion alignment with a large heading error is proposed for a low-cost inertial navigation system with the aiding of global positioning system. The linearization is designed for both the coarse and the fine stages in the local level frame. A criterion is constructed to determine the time to switch the alignment from the coarse stage to the fine one automatically. A vehicle test demonstrates that the proposed alignment converges fast and accurately.

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KW - Global positioning system (GPS)

KW - Kalman filter (KF)

KW - inertial navigation system (INS)

KW - initial alignment

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Linearized In-Motion Alignment for a Low-Cost INS

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Keywords

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